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: | Journal Article |
| Published: |
ARS
2006
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| Online Access: | http://hdl.handle.net/20.500.11937/45128 |
| _version_ | 1848757196871958528 |
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| author | Scarfe, Peter Lindsay, Euan |
| author_facet | Scarfe, Peter Lindsay, Euan |
| author_sort | Scarfe, Peter |
| building | Curtin Institutional Repository |
| collection | Online Access |
| 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 | 2025-11-14T09:24:15Z |
| format | Journal Article |
| id | curtin-20.500.11937-45128 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:24:15Z |
| publishDate | 2006 |
| publisher | ARS |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-451282017-01-30T15:18:40Z Air Muscle Actuated Low Cost Humanoid Hand Scarfe, Peter Lindsay, Euan 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. 2006 Journal Article http://hdl.handle.net/20.500.11937/45128 ARS restricted |
| spellingShingle | Scarfe, Peter Lindsay, Euan Air Muscle Actuated Low Cost Humanoid Hand |
| 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 |
| url | http://hdl.handle.net/20.500.11937/45128 |