Biomedical Engineering Reference
In-Depth Information
FIGURE 10-33
PAM actuated
shadow hand.
(a) Pencil grip.
(b) Open. (c) Power
grip. (Courtesy of
Shadow Robot
Company, with
permission.)
and sampled at 180 Hz. The pressure in each muscle (zero- to four-bar) measured by a
solid-state pressure sensor is also digitized to 12 bits and transmitted on the CANBUS.
10.9.2.4 University of Bologna Hand III
The University of Bologna (UB) hand shown in Figure 10-35 uses deformable (compliant)
elements as joint hinges to provide a structure that is able to support distributed tactile
sensors and a continuous compliant outer layer.
FIGURE 10-34
Kinematic
construction of the
shadow hand.
(Courtesy of Shadow
Robot Company,
with permission.)
