Air Muscle Actuated Low Cost Humanoid Hand
The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable de...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/air_muscle_actuated_low_cost_humanoid_hand |
| _version_ | 1828438765043974144 |
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| author | Peter Scarfe Euan Lindsay |
| author_facet | Peter Scarfe Euan Lindsay |
| author_sort | Peter Scarfe |
| collection | DOAJ |
| description | The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects. |
| first_indexed | 2024-12-10T20:11:37Z |
| format | Article |
| id | doaj.art-b7114b3417014955b17134f8958c8f50 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T20:11:37Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-b7114b3417014955b17134f8958c8f502022-12-22T01:35:17ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0132Air Muscle Actuated Low Cost Humanoid HandPeter ScarfeEuan LindsayThe control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.http://www.intechopen.com/articles/show/title/air_muscle_actuated_low_cost_humanoid_handMcKibben air-musclepressure balancing valvelow costhumanoid handrobotic arm |
| spellingShingle | Peter Scarfe Euan Lindsay Air Muscle Actuated Low Cost Humanoid Hand International Journal of Advanced Robotic Systems McKibben air-muscle pressure balancing valve low cost humanoid hand robotic arm |
| title | Air Muscle Actuated Low Cost Humanoid Hand |
| title_full | Air Muscle Actuated Low Cost Humanoid Hand |
| title_fullStr | Air Muscle Actuated Low Cost Humanoid Hand |
| title_full_unstemmed | Air Muscle Actuated Low Cost Humanoid Hand |
| title_short | Air Muscle Actuated Low Cost Humanoid Hand |
| title_sort | air muscle actuated low cost humanoid hand |
| topic | McKibben air-muscle pressure balancing valve low cost humanoid hand robotic arm |
| url | http://www.intechopen.com/articles/show/title/air_muscle_actuated_low_cost_humanoid_hand |
| work_keys_str_mv | AT peterscarfe airmuscleactuatedlowcosthumanoidhand AT euanlindsay airmuscleactuatedlowcosthumanoidhand |