By Nathan F. Lepora, Anna Mura, Michael Mangan, Paul F.M.J. Verschure, Marc Desmulliez, Tony J. Prescott

This booklet constitutes the court cases of the fifth foreign convention on Biomimetic and Biohybrid platforms, dwelling Machines 2016, held in Edinburgh, united kingdom, in July 2016. The 34 complete and 27 brief papers offered during this quantity have been conscientiously reviewed and chosen from sixty three submissions.The topic of the convention encompasses biomimetic equipment for manufacture, fix and recycling encouraged by means of common approaches suchas copy, digestion, morphogenesis and metamorphosis.

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Extra info for Biomimetic and Biohybrid Systems: 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings

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2, a two-joint thumb finger is designed and the mechanism is analyzed. Then the developing process is summarized and design approach is proposed. Finally, a prototype of artificial finger considering function of fingernail and soft fingertip is fabricated using 3D printing and some grasping tests of finger are conducted to verify the performance of the finger. Fig. 1. Contact-aided joints and motion of a robotic finger. 30 2 G. Bai et al. Articular System of Human Hand In order to mimic human hand for grasping objects, articular system of the human hand is investigated.

A 3D model considering these details are designed in order to mimic human hand’s structure. Two joints of the finger are decoupled and a tendon is used to drive phalanges of the finger. The finger is divided by its symmetrical plane into front and back halves which make the manufacturing and assembly efficient. The detailed design of the two-joint finger is shown in Fig. 9. Fig. 9. 3D model of a two-joint finger. A 3D printed prototype is shown in Fig. 1. The material used for the outside layer of the phalanges is silicone elastomer while the material for crank link and follower links of CFB mechanism is PLA.

Biol. 79, 23–40 (1982) 17. : Mechanics of standing in birds: functional explanation of lamness problems in giant turkeys. Br. Poult. Sci. 34, 887–898 (1993) 18. : Kinematic modeling of bird locomotion from experimental data. IEEE Trans. Robot. 27(2), 185–200 (2011) 19. : Generalized humanoid leg inverse kinematics to deal with singularities. In: IEEE International Conference on Robotics and Automation, pp. 4791–4796 (2013) 20. : Humanoid Robot. Ohmsha Ltd, 3–1 Kanda Nishikicho, Chiyodaku, Tokyo, Japan (2005) The Natural Bipeds, Birds and Humans: An Inspiration for Bipedal Robots 15 21.

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