NDLI: Lightweight prosthetic hand with five fingers using SMA actuator

Content Provider	IEEE Xplore Digital Library
Author	Sungyoon Jung Juhwan Bae Inhyuk Moon
Copyright Year	2011
Description	Author affiliation: Korea Orthopedics & Rehabilitation Engineering Center (KOREC), INCHEON 403-712, KOREA (Sungyoon Jung) \|\| Department of Mechatronics Engineering, Dong-Eui University, Busan, Korea (Juhwan Bae; Inhyuk Moon)
Abstract	This paper proposes a lightweight prosthetic hand with five fingers that are driven by contraction force of shape memory alloy (SMA). Each finger is composed of SMA-wire mechanism similar to the muscle-tendon structure of human. Finger flexion is performed by contraction force of SMA, but its extension is carried out by a restoring force of a spring mounted on the backside of finger. The developed hand has five fingers, but its total DOF is six due to an under-actuated mechanism. Each finger posture is achieved by control of the SMA length using the electric resistance characteristics of SMA. Therefore the developed hand is possible to perform dexterous hand motions such as tip grasp, precision grasp and lateral hip. Based on a statics analysis of finger mechanism, we estimate the hand grip force. In experiments, we measured the grip force and then compared it to the simulation results. As a result, the maximum grip force was 4.52N by the constant input force, 13N, when the MCP joint angle was 90 degrees.
Starting Page	1797
Ending Page	1800
File Size	1365592
Page Count	4
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Resistance Force Thumb SMA tendon-driven grip force prosthetic hand Joints Prosthetic hand Robots lightweight
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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