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Development of an Anatomically Correct Testbed (ACT) Hand

  • Ashish D. Deshpande
  • Yoky Matsuoka
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 95)

Abstract

We have built an Anatomically Correct Testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features of the human hands that are critical for achieving robust, versatile, and dexterous movements as well as object and world exploration. By mimicking the underlying mechanics and controls of the human hand in a hardware platform, our goal is to achieve previously unmatched grasping and manipulation capabilities. In this chapter we present distinguishing design philosophy and features of the ACT Hand compared to the existing robotic hands, and the details of the design and assembly of the finger bones, joints, tendons and actuators. We derive and analyze the unique muscle-to-joint relationships, called the moment arms, in the ACT Hand index finger, and present a software architecture for the control of the hand movement and forces by controlling the numerous muscle actuators. We also illustrate the grasping and manipulation abilities of the ACT Hand. The fully functional ACT Hand platform allows us to experiment with novel control algorithms to develop a deeper understanding of human dexterity.

keywords

Robotic hand Hand biomechanics Human-inspired design Hand control software Moment arm variations 

Notes

Acknowledgments

The authors would like to thank Zhe Xu, Michael J. Vande Weghe, Benjamin H. Brown, Timothy Blakeley, Lillian Y. Chang, David D. Wilkinson, Sean M. Bidic for their role in the design and building of the ACT Hand. Also the authors would like to thank Jonathan Ko, Ravi Balasubramanian and Brian Dellon for their role in data collection and modeling of the moment arm relationships.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringThe University of TexasAustinUSA
  2. 2.Department of Computer Science and EngineeringThe University of WashingtonSeattleUSA

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