The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would further our understanding of natural kinematic structures. We printed a biomimetic hand in a single print process comprised of a rigid skeleton, soft joint capsules, tendons, and printed touch sensors. We showed it's actuation using electric motors. In this work, we expand on this work by adding a forearm that is also closely modeled after the human anatomy and replacing the hand's motors with 22 independently controlled pneumatic artificial muscles (PAMs). Our thin, high-strain (up to 30.1%) PAMs match the performance of state-of-the-art artificial muscles at a lower cost. The system showcases human-like dexterity with independent finger movements, demonstrating successful grasping of various objects, ranging from a small, lightweight coin to a large can of 272g in weight. The performance evaluation, based on fingertip and grasping forces along with finger joint range of motion, highlights the system's potential.

翻译：受自然启发的复杂结构的功能性复制与驱动是人类长期以来的目标。创建结合软硬特征的此类复杂结构，并用人工肌肉驱动它们，将进一步加深我们对自然运动结构的理解。我们通过单一打印工艺打印了一只仿生手，该手由刚性骨骼、软组织关节囊、肌腱和印刷触觉传感器组成，并展示了其通过电机驱动的能力。本研究在此基础上进行了扩展，新增了一个严格模拟人体解剖结构的前臂，并将手部的电机替换为22个独立控制的气动人工肌肉（PAMs）。我们研制的纤细、高应变（达30.1%）PAMs以更低成本达到了当前最先进人工肌肉的性能。该系统展示了类人灵巧性，可实现独立手指运动，成功抓取从轻质小硬币到重达272克的大罐子等多种物体。基于指尖抓取力与手指关节活动范围的性能评估，凸显了该系统的潜力。