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Dexterous Robotic Hand Based on Rotational Shape Memory Alloy Actuator-Joints | IEEE Journals & Magazine | IEEE Xplore

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


Abstract:

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 an...Show More

Abstract:

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.
Published in: IEEE Transactions on Medical Robotics and Bionics ( Volume: 5, Issue: 4, November 2023)
Page(s): 1082 - 1092
Date of Publication: 15 September 2023
Electronic ISSN: 2576-3202

Funding Agency:


References

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