Pneumatic Modelling for Adroit Manipulation Platform
Vikash Kumar, Visak CV
TL;DR
This paper develops and analyzes pneumatic models for the ADROIT manipulation platform, a highly capable tendon-driven robotic hand with advanced pneumatic actuation for dexterous manipulation.
Contribution
It introduces detailed pressure dynamic models for pneumatic muscles, considering various parameters to enhance accuracy for complex robotic hand control.
Findings
Identified key parameters affecting pressure dynamics
Improved pneumatic muscle modeling accuracy
Enhanced understanding of pneumatic system behavior
Abstract
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support dynamic and dexterous manipulation, from a custom designed high-performance pneumatic actuation system for tendon-driven hands. The custom pneumatic actuation system is fast, strong, low friction-stiction, compliant and is capable of actuating a shadow hand skeleton faster that human capabilities -- at a unique combination of speed, force, and compliance that has never been achieved before. In this paper, we develop models for the pneumatic muscles of ADROIT and perform a thorough investigation of the various parameters that affect pressure dynamics in a pneumatic system such as, different cylinder types, leakage from valves and cylinders, valve deadzone,…
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Taxonomy
TopicsMuscle activation and electromyography studies · Robot Manipulation and Learning
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