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The ulna and radius are parallel bones of the antebrachium or the forearm. The ulna lies medially and consists of a bony tip called the olecranon process at its proximal end. This hook-like projection articulates with the olecranon fossa of the humerus and forms the "hinged" ulnohumeral part of the elbow joint. This joint facilitates forearm extension and flexion while preventing its hyperextension. Similarly, the coronoid process, another bony projection on the proximal/anterior side...
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The radius is longer of the two bones that make up the human antebrachium or forearm. At the proximal end, the radius articulates with the capitulum of the humerus and the radial notch of the ulna to form the elbow joint. At the distal end, the radius articulates with the ulna via the ulnar notch, forming the distal radioulnar joint. Distally, the radius also attaches to the carpal wrist bones (scaphoid and lunate) to form the radiocarpal joint.
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Multijointed Pneumatic Soft Hand with Flexible Thenar.

Tianze Hao1, Huaping Xiao1, Shuhai Liu1

  • 1College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing, China.

Soft Robotics
|November 8, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new multijointed soft robotic hand that mimics human hand movements. This adaptable, cost-effective bionic hand can perform sign language and grasp objects with multiple modes.

Keywords:
anthropomorphic handfirm graspflexibilitygesturemultijointedsoft thenar actuator

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Soft robotic hands offer enhanced safety and adaptability over rigid designs.
  • Anthropomorphic robotic hands require complex, multi-jointed structures to mimic human dexterity.

Purpose of the Study:

  • To develop a multijointed pneumatic soft anthropomorphic hand.
  • To enable the hand to perform sign language and object grasping with multiple modes.

Main Methods:

  • Fabrication of a soft hand using mold casting silicone rubber for fingers, thumb, and thenar, with a 3D-printed palm.
  • Characterization of finger, thumb, and thenar displacement and force performance.
  • Design and implementation of a dedicated pneumatic control system for automated task execution.

Main Results:

  • The soft hand successfully demonstrated sign language expression.
  • The hand achieved object grasping using thumb, precision, and power grip modes.
  • Characterization confirmed the performance capabilities of the soft robotic hand components.

Conclusions:

  • The developed multijointed soft anthropomorphic hand represents a significant advancement in bionic hand technology.
  • The hand offers benefits including fast response, low cost, and ease of fabrication, assembly, and replacement.
  • The flexible thenar design contributes to improved anthropomorphism and functionality.