![]() Up to date, the most performant prototypes (in terms of force, speed, and versatility) are designed with a rigid structure, and driven by electric motors. The design of a device able to reproduce all the functionalities of a human hand has been a challenge for many researchers since the late 1950'. The versatility of the prototype is finally demonstrated by presenting several possible hand configurations while handling objects with different sizes and shapes. Several force measurement are also realized at each finger phalanx. The maximum achievable displacement of each finger phalanx is measured together with the phalanxes dynamic responsiveness at different power stimuli. The paper starts with the description of the finger hand design, along with practical considerations for the optimal placement of the superelastic SMA in the soft joint. The resulting system is a versatile hand prototype having intrinsically elastic fingers, which is capable to grasp several types of objects with a considerable force. In order to increase the compliance of each finger, flexible joints from superelastic SMA wires are inserted between each phalanx. To enable high forces with sufficiently high actuation speed at each fingertip, bundles of welded actuated SMA wires are used. The use of thin (100 μm diameter) SMA wire actuators, in conjunction with an entirely 3D printed hand skeleton, guarantees an overall lightweight and flexible structure capable of silent motion. This work presents a novel five-fingered soft hand prototype actuated by Shape Memory Alloy (SMA) wires. ![]() Systems Engineering, Faculty of Natural Sciences and Technology, Saarland University, Saarland, Germany.Filomena Simone * Gianluca Rizzello Stefan Seelecke Paul Motzki ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |