Dexterous Robotic Hand Based on Rotational Shape Memory Alloy Actuator-Joints

被引：6

作者：

Baek, Hangyeol ^{[1
]}

Khan, Abdul Manan ^{[2
]}

Bijalwan, Vishwanath ^{[1
]}

Jeon, Sangmin ^{[1
]}

Kim, Youngshik ^{[1
]}

机构：

[1] Hanbat Natl Univ, Mech Engn Dept, Daejeon 34158, South Korea

[2] Univ Bristol, Dept Aerosp Engn, Bristol BS8 1TR, Avon, England

来源：

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | 2023年 / 5卷 / 04期

基金：

新加坡国家研究基金会;

关键词：

Robots; Thumb; Actuators; Wires; Force; Robot kinematics; Muscles; Shape measurement; Manipulator dynamics; Medical robotics; Artificial limbs; Haptic interfaces; Shape memory alloy; actuator; manipulation; back-stepping control; DESIGN;

D O I：

10.1109/TMRB.2023.3315783

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

In this study, we present a novel Shape Memory Alloy (SMA)-actuated robotic hand which can provide a higher level of dexterity and compliance. The mechanical structure and actuation of the robotic hand are designed similar to the musculoskeletal system of a human hand. SMAs are used in a similar manner where muscles and ligaments are applied in a human hand. In our design, the compliance of SMAs are used to manipulate soft, fragile, and/or rigid objects more adaptively and naturally. In particular, SMA actuators can provide a high power-to-weight ratio, which is preferable for a compact and lighter design. Each finger joint in the hand is actuated independently. Thus, the robotic hand can achieve dexterous in-hand manipulation. The grasping and in-hand manipulation experiments verify the robot design using open-loop control and closed-loop control, respectively.

引用

页码：1082 / 1092

页数：11

共 34 条

[11] Anthropomorphic finger antagonistically actuated by SMA plates [J].