STUDY ON A NEW DEXTEROUS HAND ACTUATED BY PNEUMATIC MUSCLE ACTUATORS

摘要

Research on the robot hand actuated by pneumatic muscle actuators is significative for its complaisance and dexterity. In this paper, a new kind of dexterous hand is designed and produced. The layout of tendon is analyzed and optimized. Furthermore, a single finger is controlled by Fuzz-PID and the good control precision is achieved. And, the master-slave control of the whole dextrous hand is realized simulating the movement of human hand with a cyber-glove.