PINCHING FUNCTION OF HUMAN LIKE ROBOTIC HAND USING MCKIBBEN MUSCLES

Abstract

The function of human hands to form multiple gestures is unique which requires perfect coordination between its anatomical parts, bone, ligaments and muscles. The current available robotic hands simplified the hand’s function which limits the number of DOF and mainly controlled using DC motor. In this article, index and thumb fingers of Human-like Robotics Hand (HR-Hand) is proposed for experimental study. The hand design is intended to closely replicate the human finger anatomy in terms of bones, ligaments, muscles, tendon and pulley system. Thin multifilament McKibben actuators administrated to replicate the muscles for the hand actuation in the experimental procedure with up to 300 kPa pneumatic pressure. The total numbers of extrinsic muscles according to the anatomy of these fingers are 7 muscles. The fabricated finger motion is validated by experimental analysis for pinching gesture. Three objects with different sizes and weight are used for the pinching gesture experiment and force required are recorded. Using the developed HR-Hand, one can better understand the human fingers pinching function and may use it for training and for modelling the human fingers and proposing rehabilitation devices.