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...

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Main Authors:	Farag, Mohannad, Zainul Azlan, Norsinnira, Alsibai, Mohammed Hayyan
Format:	Conference or Workshop Item
Language:	English English
Published:	Institute of Physics Publishing 2018
Subjects:	QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery
Online Access:	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

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recordtype	eprints
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 Conference or Workshop Item 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery
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
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.
format	Conference or Workshop Item
author	Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan
author_facet	Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan
author_sort	Farag, Mohannad
title	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_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_sort	development of anthropomorphic robotic hand driven by pneumatic artificial muscles for robotic applications
publisher	Institute of Physics Publishing
publishDate	2018
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
first_indexed	2023-09-18T21:32:57Z
last_indexed	2023-09-18T21:32:57Z
_version_	1777412633230573568

Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications

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