| |
|
|
|
|
|
|
|
|
|
|
|
| |
|
|
|
[086] Citation: B. Hannaford, J.M. Winters, C.P. Chou, 'The Anthroform Biorobotic Arm,'
Video Proceedings, IEEE Intl. Conf. on Robotics and Automation, San Diego, CA, May, 1994.
Abstract
A video tape: The Anthroform Biorobotic Arm is a biomechanically
accurate replica of the human arm designed to assist in the study of
neural control mechanisms in the spinal cord, and as a pre-prototype
for future advanced robot arms. The structure ofthe arm is based as
much as possible on the human arm. For example, the bones are cast
from fiberglass epoxy from human cadaver bones, the joints are surgical
replacement joints donated by Howmedica Inc., and the ligaments are
made from selected, tested, man-made knit fabrics having similar
non-linear stiffness to actual ligaments. The actuators are McKibben
pneumatic braided actuators custom fabricated at Catholic University to
match specific muscle properties. Although it still differs from the
human arm in several key aspects, the Anthroform arm is the first
actuated arm whose design is based on the anatomy and dynamics of the
human arm. It will be used in conjunction with a Digital Signal
Processor based computing system to study biologically realistic models
of spinal neural circuits. Support for this project was provided by
the US Office of Naval Research.
["I would like a hard copy of this report"]
[Copyright]
[HELP!]
Updated: Tue Jul 15 23:54:48 2008
| |
