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Title: 23 DOF anthropomorphic robotic hand with high resolution spatio-temporal tactile sensing
Author: Chua, Ping Yong
ISNI:       0000 0001 3550 2500
Awarding Body: University of Salford
Current Institution: University of Salford
Date of Award: 2006
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General purpose robot end-effectors are fast, accurate and on occasions flexible, but inherently narrow in the tasks they perform. In endeavouring to mimic the human hand (the most dexterous end-effector), a tele-operated 5 fingered, 23 degree of freedom (DOF) dexterous anthropomorphic robotic hand has been designed, constructed and tested. This hand is biomimetically actuated by 20 braided pneumatic Muscle Actuators (pMAs). The thesis shows the structured development of this complex anthropomorphic robotics structure, a method of taking advantage of the inherent nature of the pMAs which weakens linearly as it contracts, a system of transmitting power from pMAs to the joints in the robotic hand, a novel method of demonstrating the dexterity and speed of the robotic hand and development of a micro-controller (μC) based pMA controller.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available