Middle finger structure

The actuator is a McKibben pneumatic artificial muscle that is driven by low air pressure (max. 200 kPa). Since the McKibben pneumatic artificial muscle has the flexibility, this robot hand contributes to safety when contacting with a human in a human environment, especially the medical field. The structure of the robot hand, inspired by the musculoskeletal structure that uses several muscles to make a joint move, is a redundant structure. Thus, the design of a controller is difficult. In this study, the biological controller inspired by a biological fluctuation is designed for a middle finger of the robot hand as a control target. 

Fig. 52. The sensorimotor structure of the 2 finger tapping (MF middle finger, IF index finger) B shows another way to represent the motor outputs of Fig. A...

Fig. 55. Hypothetical structure of the task 5FT (five finger tapping). (LF Little fingei RF ring finger, MF middle finger, IF index finger, TH thumb)...

The thumb has a distinct anatomy, with a bony structure similar to a finger without the metacarpal, i.e. the physis is located at the proximal end of the distal phalanx, middle phalanx and metacarpal (Kozin 2006). The collateral ligament insertions are different at the interphalangeal joint and the metacarpophalangeal... 

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