Abstract
Where humans and mechanical systems operate in close proximity there is a need to provide drive systems that combine the positive attributes of conventional actuator design with a 'softer' safer interaction capacity. This is achieved by natural muscle, and engineering emulation of this functionality could have a significant benefits in many areas, but particularly the medical domain. This work will study the use of compliance regulated and controlled pairs of antagonistic pneumatic Muscle Actuators (pMAs) in two medical scenarios;
i) The construction of dexterous prosthetic hands having a high power and low mass potential,
ii) The construction of a power assist device that can be used to augment the strength of those suffering from degenerative muscle wasting diseases.
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