Robot hands and the mechanics of manipulation
Robot hands and the mechanics of manipulation
Rubbertuators and applications for robots
Proceedings of the 4th international symposium on Robotics Research
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Designing Interactive and Intelligent Control for Rehabilitation Robots
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Modeling & characterizing stochastic actuator arrays
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
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Where humans and mechanical systems operate in close proximity there is a need to provide drive systems that combine the positive attributes of conventional actuator design with a 'softer' safer interaction capacity. This is achieved by natural muscle, and engineering emulation of this functionality could have a significant benefits in many areas, but particularly the medical domain.This work will study the use of compliance regulated and controlled pairs of antagonistic pneumatic Muscle Actuators (pMAs) in two medical scenarios; i) The construction of dexterous prosthetic hands having a high power and low mass potential, ii) The construction of a power assist device that can be used to augment the strength of those suffering from degenerative muscle wasting diseases.