An introduction of the biomimetic hand testbed: Skeletal structure and actuation

Abstract

This paper presents a design of an anthropomorphic biomimetic hand testbed, wich focuses on the design of the fingers and its bio-inspired flexor-extensor like control. The kinematic description, the detailed explanation and presentation of the 3D CAD design are included. The description of the applied 3D touch and magnetic sensors are also detailed in the article. Functional simulation results and also the first experiments of the hardware prototype gave promising results and show that the approach can be an effective solution for the need of a hand testbed.