Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Liu, Renke; Zheng, Huakai; Hliboký, Maroš; Endo, Hiroki; Zhang, Shuyao; Baba, Yusuke; Sawada, Hideyuki

doi:10.3390/biomimetics9030151

Cited by 3 publications

(3 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Flexible and lightweight soft actuators are suitable for muscle mimicry and soft wearable robots, making them for mimicking knee movement. A notable example of a soft actuator is the shape memory alloy (SMA) [24,25]. The SMA deforms above its transformation temperature when heated.…”

Section: Introductionmentioning

confidence: 99%

Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee

Seo,

Kang,

Han

2024

Biomimetics

View full text Add to dashboard Cite

Every year, almost 4 million patients received medical care for knee osteoarthritis. Osteoarthritis involves progressive deterioration or degenerative changes in the cartilage, leading to inflammation and pain as the bones and ligaments are affected. To enhance treatment and surgical outcomes, various studies analyzing the biomechanics of the human skeletal system by fabricating simulated bones, particularly those reflecting the characteristics of patients with knee osteoarthritis, are underway. In this study, we fabricated replicated bones that mirror the bone characteristics of patients with knee osteoarthritis and developed a skeletal model that mimics the actual movement of the knee. To create patient-specific replicated bones, models were extracted from computerized tomography (CT) scans of knee osteoarthritis patients. Utilizing 3D printing technology, we replicated the femur and tibia, which bear the weight of the body and support movement, and manufactured cartilage capable of absorbing and dispersing the impact of knee joint loads using flexible polymers. Furthermore, to implement knee movement in the skeletal model, we developed artificial muscles based on shape memory alloys (SMAs) and used them to mimic the rolling, sliding, and spinning motions of knee flexion. The knee movement was investigated by changing the SMA spring’s position, the number of coils, and the applied voltage. Additionally, we developed a knee-joint-mimicking system to analyze the movement of the femur. The proposed artificial-skeletal-model-based knee-joint-mimicking system appears to be applicable for analyzing skeletal models of knee patients and developing surgical simulation equipment for artificial joint replacement surgery.

show abstract

Section: Introductionmentioning

confidence: 99%

Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee

Seo,

Kang,

Han

2024

Biomimetics

View full text Add to dashboard Cite

show abstract

Section: Introductionmentioning

confidence: 99%

“…Narumi proposed a biomimetic prosthetic hand with bones, ligaments, tendons, and multiple muscles based on the human musculoskeletal system [ 15 ]. Liu designed a biomimetic finger based on anatomical structures actuated by SMA with hard and soft modes [ 16 ]. Additionally, Francisco presented a neurobiological control for anthropomorphic robotic systems to generate human-like movement [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

Zhou,

Fu,

Shentu

et al. 2024

Biomimetics

View full text Add to dashboard Cite

To analyze the structural characteristics of a human hand, data collection gloves were worn for typical grasping tasks. The hand manipulation characteristics, finger end pressure, and finger joint bending angle were obtained via an experiment based on the Feix grasping spectrum. Twelve types of tendon rope transmission paths were designed under the N + 1 type tendon drive mode, and the motion performance of these 12 types of paths applied to tendon-driven fingers was evaluated based on the evaluation metric. The experiment shows that the designed tendon path (d) has a good control effect on the fluctuations of tendon tension (within 0.25 N), the tendon path (e) has the best control effect on the joint angle of the tendon-driven finger, and the tendon path (l) has the best effect on reducing the friction between the tendon and the pulley. The obtained tendon-driven finger motion performance model based on 12 types of tendon paths is a good reference value for subsequent tendon-driven finger structure design and control strategies.

show abstract

Displaying Tactile Sensation by SMA-Driven Vibration and Controlled Temperature for Cutaneous Sensation Assessment

Nozawa,

Liu,

Sawada

2024

Actuators

View full text Add to dashboard Cite

In this paper, we propose a novel tactile display that can present vibration patterns and thermal stimuli simultaneously. The vibration actuator employs a shape memory alloy (SMA) wire to generate micro-vibration with a frequency control of up to 300 Hz. The micro-vibration is conducted to a tactile pin for amplifying the vibration, to be sufficiently recognized by a user. A thermal stimulation unit, on the other hand, consists of four Peltier elements with heatsinks for heat radiation. Four vibration actuators and a thermal unit are arranged in a flat plane with a size of 20 mm × 20 mm, on which a user places the tip of an index finger to feel the presented vibratory stimuli under different temperature conditions. We conducted an experiment by employing nine subjects to evaluate the performance of the proposed tactile display and also to investigate the effects of temperature on recognizing tactile sensation. The results demonstrated that the proposed device was feasible for the quantitative diagnosis of tactile sensation. In addition, we verified that the sensitivity of tactile sensation decreased with colder stimuli.

show abstract

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Cited by 3 publications

References 27 publications

Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee

Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee

Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

Displaying Tactile Sensation by SMA-Driven Vibration and Controlled Temperature for Cutaneous Sensation Assessment

Contact Info

Product

Resources

About