The UW Hand: A Low-cost, 20-DOF Tendon-driven Hand with Fast and Compliant Actuation
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چکیده
We describe the process of designing and building a 20 degrees-of-freedom tendon-driven anthropomorphic robotic hand. We use 3D printing technology to reduce cost and save time. The entire mechanism is easily assembled thanks to our Snap-On joint design. The fingers are modular and can be individually modified with little effort. The hand is actuated by new pneumatic system consisting of an assembly of 40 low-friction cylinders, and fast proportional valves mounted off-board. The new hand described here is a drop-in replacement for the ShadowHand robot which motivated the development of the actuation system. We also use our physics engine MuJoCo to construct a detailed kinematic model of the new hand.
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تاریخ انتشار 2012