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The ACT Hand Design Of The Skeletal Structure
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Category : Science » Human Body Science
bones and joints that form the skeletal structure for the ACT. Hand. . properties of human bones. Next, we . We used 3-dimensional human bone data to .
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Content Summary :
Robotic hands built for manipulation are often
anthropomorphic but not anatomically accurate. We are
constructing an anatomically-correct testbed (ACT) of the human
hand to understand its mechanisms, function, and control. We
have previously demonstrated that an accurate model of the
extensor mechanism in the ACT Hand is crucial in realizing the
human-like finger movements. Here, we present design of the
bones and joints that form the skeletal structure for the ACT
Hand. The bones are machined from human bone data, and are
accurate in surface shape, mass, and center-of-gravity, while
joints have been designed to match both degrees-of-freedom and
passive stiffness. Our evaluation of the assembled index finger
confirms the anatomic properties, and reveals the function of
some of the peculiar shapes of the finger bones, necessity of
matching the joint passive stiffness properties, and connections of
the extensor mechanism.
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