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Title: Developing An Anthropomorphic Biomimetic Hand for Robotics Applications
Authors: Dixon, Justice
Advisors: Rowley, Clarence
Department: Mechanical and Aerospace Engineering
Certificate Program: None
Class Year: 2020
Abstract: Modern engineering techniques have enabled the development of robots which can be specialized to complete any task possible through human labor. However, while a human can complete a diverse array of tasks, it is considerably more difficult to develop robot which can do the same. The field of biomimetic robotics seeks to find ways to mimic the versatility of biological movements. Specifically, much work has been done to replicate the combination of strength, accuracy, and dexterity exhibited by the human hand. Attempting to mimic every degree of freedom in the hand while preserving its compact geometry would require time and resources infeasible for many researchers. To overcome this, a combination of biological “shortcuts” and engineering techniques is implemented. Despite unforeseen time constraints, this project proved that it is possible to develop a BMAH that can perform a versatile array of movements, operates using only ten actuators, and maintains the geometry of a biological hand.
Type of Material: Princeton University Senior Theses
Language: en
Appears in Collections:Mechanical and Aerospace Engineering, 1924-2020

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