A skeletal framework artificial hand actuated by pneumatic artificial muscles

Describes a method and a process for developing a soft artificial hand similar to a real human hand and its small-size soft actuator. For the soft actuator, we took a pneumatic artificial muscle and succeeded in reducing it to a diameter of 3.5 mm. The pneumatic artificial muscle allows the artificial hand not only to move softly and powerfully by pneumatic power but also works as a sensor. As a frame for the artificial hand, we used the skeleton model of human hand in order to make the hand similar to real human hand in structure as well as motion.