This demo presents an anthropomorphic robotic finger developed at Movement Control Lab, CSE, Univ. of Washington, Seattle, Washington. It is composed of three bio-mimetic joints whose bio-mechanics and dynamic properties are close to their human counterparts.By using six pneumatic cylinders, the robotic finger is actuated through a series of simplified antagonistic tendons whose insertion points and moment arms at each joint are inherited from the anatomy of the human finger. The dynamics of the artificial finger is investigated under disturbance rejection, set point tracking and trajectory tracking. The kinematic model of the artificial finger system is constructed with help of MuJoCo - a physics engine custom-developed - to simulate the interaction between the finger's joints and tendons.
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