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This paper presents the design and implementation of a four-fingered human-size robotic hand intended for dexterous and grasping manipulation applications. The prototype hand has 3 degrees of freedom (DOF) per finger and 2 DOF in the thumb for a total of 11 DOF. Shape memory alloys (SMAs) micro-coils are embedded intrinsically within the hand structure to power the joints while exhibiting some advantageous features such as low-cost, lightweight, compactness and clean silent operation. To increase efficiency and decrease power dissipation, the SMA micro-actuators integrate magnetic bi-stable structures. Mechanical design, actuation approach and first prototype are presented and discussed.
Published in:
AFRICON, 2009. AFRICON '09.
Date of Conference: 23-25 Sept. 2009
- Page(s):
- 1 - 6
- E-ISBN :
- 978-1-4244-3919-5
- Print ISBN:
- 978-1-4244-3918-8
- INSPEC Accession Number:
- 10963633
- Conference Location :
- Nairobi
- Digital Object Identifier :
- 10.1109/AFRCON.2009.5308403
- Product Type:
- Conference Publications
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