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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Cavalcante Silva, A.F. da Rocha Souto, C. da Silva, S.A. dos Santos, A.J.V. Alves Torquato Filho, E. |
| Copyright Year | 2015 |
| Description | Author affiliation: Fed. Univ. of Paraiba-UFPB, Joao Pessoa, Brazil (da Rocha Souto, C.; da Silva, S.A.; dos Santos, A.J.V.; Alves Torquato Filho, E.) || Dept. of Ind., Fed. Inst. of Paraiba-IFPB, Cajazeiras, Brazil (Cavalcante Silva, A.F.) |
| Abstract | In this work, a robotic hand has been developed. This hand is driven by SMA (Shape Memory Alloy) wires. Some researches has showed the high rejection rate by the amputees using prosthetic upper limbs due to several problems, such as weight, high noise and need of anthropomorphism. In this context, it is presented the development of a robotic hand which is not driven by conventional actuators, in this case, SMA actuators. The mechanical structure of the robotic hand was designed using a computer program (CAD) and subsequently manufactured in ABS (acrylonitrile butadiene styrene) polymer by a rapid prototyping machine (3D printer). The robotic hand was instrumented with a bend sensor (also known as Flexsensor) to monitor the angles formed by each phalanx. The data presented, as the obtained angles, were quite satisfactory for this application. In order to corroborate the data presented by the bend sensor, a system was developed using a camera to procedure a non-contact measurement with image processing. |
| Starting Page | 522 |
| Ending Page | 526 |
| File Size | 951441 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781479961146 |
| DOI | 10.1109/I2MTC.2015.7151322 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-05-11 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Biomechanics Actuators Shape memory alloys Image processing Wires Thumb Robot sensing systems Shape-memory alloy Robotic hand |
| Content Type | Text |
| Resource Type | Article |
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