  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.
