Development of robot hand with Pneumatic Artificial Muscle for rehabilitation application

Thanana Nuchkrua*, Thananchai Leephakpreeda, Tatdanai Mekarporn

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

The Pneumatic Artificial Muscle (PAM) actuator has played a role to the robotics application especially end-effector of manipulated robot, which yields remarkable muscle-like properties such as high force to weight ratio, soft and flexible structure. This paper develops a mechanism of PAM robot hand based on adaptive robotic gripper concept for applying to the various tasks. The proposed concept of PAM robot hand is suitable to grasp the object in different shapes. The outcome of this PAM robot hand is the three fingers robot hand. This PAM robot hand requires only two actutors since the fingers of robot hand are designed to have a synchronized motion with each other. The empirical models of both mechanical actuation of robot hand and fluid dynamic of pressurized gas within PAM are determined systematically where their interactions comply with the continuity principle and energy balance in describing actual dynamic behaviors of the PAM robot hand. The optimal controller is applied to control the performance of this PAM robot hand under several conditions of tasks. These manipulations result in desired mechanical actuation of the PAM robot hand in practical uses.

Original languageEnglish
Title of host publication7th IEEE International Conference on Nano/Molecular Medicine and Engineering, IEEE-NANOMED 2013
PublisherIEEE Computer Society
Pages55-58
Number of pages4
ISBN (Print)9781479926893
DOIs
StatePublished - 2013
Externally publishedYes
Event7th IEEE International Conference on Nano/Molecular Medicine and Engineering, IEEE-NANOMED 2013 - Phuket, Thailand
Duration: 10 Nov 201313 Nov 2013

Publication series

NameIEEE International Conference on Nano/Molecular Medicine and Engineering, NANOMED
ISSN (Print)2159-6964
ISSN (Electronic)2159-6972

Conference

Conference7th IEEE International Conference on Nano/Molecular Medicine and Engineering, IEEE-NANOMED 2013
CountryThailand
CityPhuket
Period10/11/1313/11/13

Keywords

  • gripper
  • Pneumatic artificial muscle
  • robot hand

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