Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications
This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where eac...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
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Institute of Physics Publishing
2018
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/65518/ http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf |
| _version_ | 1848786403554492416 |
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| author | Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan |
| author_facet | Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan |
| author_sort | Farag, Mohannad |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where each finger can be driven by one PAM actuator and six indirectly interlinked tendons. With this design, the three-fingered hand has a compact size and a lightweight with a mass of 150.25 grams imitating the human being hand in terms of size and weight. The hand also successfully grasped objects with different shapes and weights up to 500 g. Even though the number of PAM actuators equals the number of Degrees of Freedom (DOF), the design guarantees driving of three joints by only one actuator reducing the number of required actuators from 3 to 1. Therefore, this hand is suitable for researches of robotic applications in terms of design, cost and ability to be equipped with several types of sensors. |
| first_indexed | 2025-11-14T17:08:29Z |
| format | Proceeding Paper |
| id | iium-65518 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:08:29Z |
| publishDate | 2018 |
| publisher | Institute of Physics Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-655182018-08-08T08:36:58Z http://irep.iium.edu.my/65518/ Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where each finger can be driven by one PAM actuator and six indirectly interlinked tendons. With this design, the three-fingered hand has a compact size and a lightweight with a mass of 150.25 grams imitating the human being hand in terms of size and weight. The hand also successfully grasped objects with different shapes and weights up to 500 g. Even though the number of PAM actuators equals the number of Degrees of Freedom (DOF), the design guarantees driving of three joints by only one actuator reducing the number of required actuators from 3 to 1. Therefore, this hand is suitable for researches of robotic applications in terms of design, cost and ability to be equipped with several types of sensors. Institute of Physics Publishing 2018-04-06 Proceeding Paper NonPeerReviewed application/pdf en http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf application/pdf en http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf Farag, Mohannad and Zainul Azlan, Norsinnira and Alsibai, Mohammed Hayyan (2018) Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications. In: International Conference on Innovative Technology, Engineering and Sciences 2018, iCITES 2018, 1 - 2 March 2018, Universiti Malaysia Pahang (UMP) Pekan Campus LibraryPekan, Pahang; Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta 10.1088/1757-899X/342/1/012052 |
| spellingShingle | QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title | Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title_full | Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title_fullStr | Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title_full_unstemmed | Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title_short | Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications |
| title_sort | development of anthropomorphic robotic hand driven by pneumatic artificial muscles for robotic applications |
| topic | QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery |
| url | http://irep.iium.edu.my/65518/ http://irep.iium.edu.my/65518/ http://irep.iium.edu.my/65518/ http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf |