2017/03/05 by Vikash Kumar, Kumar, Vikash, Visak Cv +2
Computer Science · Engineering · #FOS: Computer and information sciences #Muscle activation and electromyography studies #Robot Manipulation and Learning #Robotics (cs.RO) #cs.RO
paper · pdf · doi:10.48550/arxiv.1703.01653
arxiv created 2017/03/05 · openalex publication_date 2017/03/05 · arxiv updated 2017/03/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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, input pressure fluctuations etc to improve the model's accuracy.