Design of dexterous hands for traditional Chinese massage based on pneumatic muscles

Compared with the relatively mature tendon-driven dexterous hand at present, the dexterous hand based on the design of pneumatic muscle is flexible and has the function of variable stiffness, which is more acceptable in traditional Chinese massage. Based on the existing pneumatic muscles on the market, the dexterous hand is designed from the structure. Analyze its kinematics and moments, establish a D-H model, and determine the workspace through matlab simulation.