MyoFinger 0.1

General:

The myoFinger mujoco musculoskeletal (MSK) model was created based on a biomimetic artificial robotic finger system [https://ieeexplore.ieee.org/document/6290710].

It is a simplified and intuitive model of a 4 Degree of Freedom (DoF) finger (MyoFinger, Figure 4A), which is actuated through a series of 5 simplified antagonistic muscle-tendon units.

Maunal adjustment:

• Adjustments post conversion to optimize for kitnematic and dynamic behaviors
• Inertial properties
• Dynamics properties of the joints

Contact Geometries:

• Manually designed with references
• Contact properties optimized for contact rich behaviors

Issues:

• N/A