HUMANOID ROBOTICS HAND ACTUATED BY AIR MUSCLES

摘要

A robotic hand has a main palm portion 15a to which three multi-part digits (Fig 3) are attached via stubs 23a-c, a further palm portion 15b carrying a further multi-part digit which is pivotally attached to the main palm portion 15a and a further pivotally attached palm portion 15c carrying a thumb-type multi-part digit 39. The palm portion 15b is pivotally attached at right angles to the main portion 15a and at one side thereof. The portion 15c is pivotally attached at the other side and mounted in bearings 35 and extends parallel to the main plane and also carries the thumb portion 39 at an acute angle thereto and pivotally mounted in bearings 41b. The whole are preferably operated via cables and air muscles (45, Fig 1) with the air muscles carried in a forearm arrangement (13, Fig 1). A wrist portion 53 separates the hand and forearm arrangements.