The ACT Hand: Design of the Skeletal Structure

J Michael Vandeweghe, M.Rogers, M.Weissert, and Yoky Matsuoka
Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004.


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Abstract
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.

Notes
Associated Lab(s) / Group(s): Neurobotics Laboratory
Associated Project(s): Anatomically Correct Testbed (ACT) Hand
Number of pages: 5
Note: to appear

Text Reference
J Michael Vandeweghe, M.Rogers, M.Weissert, and Yoky Matsuoka, "The ACT Hand: Design of the Skeletal Structure," Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004.

BibTeX Reference
@inproceedings{Vandeweghe_2004_4632,
   author = "J Michael Vandeweghe and M.Rogers and M.Weissert and Yoky Matsuoka",
   title = "The ACT Hand: Design of the Skeletal Structure",
   booktitle = "Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04)",
   month = "May",
   year = "2004",
   Notes = "to appear"
}