Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866908627247300608 |
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| author | Buchner, Thomas Weirich, Stefan Kübler, Alexander M. Matusik, Wojciech Katzschmann, Robert K. |
| author_facet | Buchner, Thomas Weirich, Stefan Kübler, Alexander M. Matusik, Wojciech Katzschmann, Robert K. |
| contents | The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would further our understanding of natural kinematic structures. We printed a biomimetic hand in a single print process comprised of a rigid skeleton, soft joint capsules, tendons, and printed touch sensors. We showed it's actuation using electric motors. In this work, we expand on this work by adding a forearm that is also closely modeled after the human anatomy and replacing the hand's motors with 22 independently controlled pneumatic artificial muscles (PAMs). Our thin, high-strain (up to 30.1%) PAMs match the performance of state-of-the-art artificial muscles at a lower cost. The system showcases human-like dexterity with independent finger movements, demonstrating successful grasping of various objects, ranging from a small, lightweight coin to a large can of 272g in weight. The performance evaluation, based on fingertip and grasping forces along with finger joint range of motion, highlights the system's potential. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_19077 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm Buchner, Thomas Weirich, Stefan Kübler, Alexander M. Matusik, Wojciech Katzschmann, Robert K. Robotics The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would further our understanding of natural kinematic structures. We printed a biomimetic hand in a single print process comprised of a rigid skeleton, soft joint capsules, tendons, and printed touch sensors. We showed it's actuation using electric motors. In this work, we expand on this work by adding a forearm that is also closely modeled after the human anatomy and replacing the hand's motors with 22 independently controlled pneumatic artificial muscles (PAMs). Our thin, high-strain (up to 30.1%) PAMs match the performance of state-of-the-art artificial muscles at a lower cost. The system showcases human-like dexterity with independent finger movements, demonstrating successful grasping of various objects, ranging from a small, lightweight coin to a large can of 272g in weight. The performance evaluation, based on fingertip and grasping forces along with finger joint range of motion, highlights the system's potential. |
| title | Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.19077 |