https://github.com/user-attachments/assets/2843a26b-b9ff-487c-ac3d-21256a61831c

Pneumatic Actuator Hand Skeleton

Multiple McKibben actuated hand for soft robotics.

This is my Air-powered McKibben soft actuated hand, powered by an old tire compressor + solenoid valves + PCA9685 PWM driver + ULN2803A Darlington transistor array. It features a self-topping compressor-accumulator tank controlled via N-Ch MOSFET + 12V Bosch automotive relay + 12V pressure transducer for bang-bang control via a cheap ESP32 board, using C++/PlatformIO.

Actuator theory, hardware explanations, and code are contained in this repo.