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：受自然界启发的复杂结构的功能性复制与驱动是人类长期追求的目标。创建这种结合软硬特征的复杂结构，并通过人工肌肉进行驱动，将深化我们对自然运动结构的理解。我们通过单次打印工艺制造了仿生手，包含刚性骨骼、软关节囊、肌腱及印刷触觉传感器，并展示了其通过电机驱动的可行性。本研究在此基础上进一步扩展，增加了紧密模拟人体解剖结构的前臂，并将手部电机替换为22个独立控制的气动人工肌肉（PAMs）。我们研发的薄型、高应变（最高达30.1%）PAMs以更低的成本达到了当前先进人工肌肉的性能水平。该系统展示了类人的灵巧性，可实现手指独立运动，并成功抓取从轻质小硬币到重达272g的大型罐体等多种物体。基于指尖力、抓握力及手指关节活动范围的性能评估，凸显了该系统的应用潜力。