Design of an innovative prosthetic hand with compact shape memory alloy actuators

Andrianesis, Konstantinos; Tzes, Anthony

doi:10.1109/med.2013.6608799

Cited by 11 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Moreover, it had the advantages of low cost of SMA wires as actuators, decreasing the cost of additive manufacturing, using the self-sensing capabilities of the SMAs for controlling purposes, and typical usage of 50 W power [23]. Hence, taking advantage of all benefits mentioned before resulted in the humanoid prosthetic hand which imitates different postures of the real human hands as it’s shown in Figure 5.…”

Section: Smas In Assistive Devicesmentioning

confidence: 99%

Application of NiTi in Assistive and Rehabilitation Devices: A Review

et al. 2019

View full text Add to dashboard Cite

Shape memory alloys (SMAs) have found widespread applications as biomedical devices. Biocompatibility, corrosion resistance, and ductility make these alloys attractive for medical devices such as stents and filters. For these implants, the superelastic property is the primary function of SMAs. Additionally, these alloys, such as NiTi as the prime example, can be used for actuation. Several modes of actuation such as displacement control, force control, and compliance control have been used as harnesses with SMA devices. These two unique properties have opened another application in the form of neurosurgery and robot-assisted surgery devices, as well as controlled assistive and rehabilitation devices. This paper reviews the state of the art of application of SMAs in the latter category where control is applied to harness innovative medical devices. To this end, two major subsets of these devices: prosthesis and orthosis which take the advantage of SMAs in assistive and rehabilitation devices are studied. These devices are further categorized to hand prosthetics, elbow, knee and ankle orthotics. In most of these designs, SMA wires act as artificial muscles to mimic the motion of limbs in the target joints. The evolution of each category is explained, and the specific results of them are reported. The paper also reviews the SMA applications for neurological and neuromuscular rehabilitation. To this end, different categories of rehabilitation devices as a passive and aided exercise for the ankle, knee, and elbow are highlighted. The SMA actuator in these devices can be EMG-controlled to improved patient outcome. In addition to providing a comprehensive overview of the biomedical devices, this paper identifies several possible future directions of SMA related research in the area of assistive and rehabilitation devices.

show abstract

Section: Smas In Assistive Devicesmentioning

confidence: 99%

Application of NiTi in Assistive and Rehabilitation Devices: A Review

et al. 2019

View full text Add to dashboard Cite

show abstract

“…The disadvantage of this solution is that as the length of the wire increases, more pulleys are needed to keep the actuator compact, increasing the complexity and weight of the actuator and its frictional losses. An actuator based on this principle, intended to actuate a prosthetic hand, is described in [5]. This actuator uses a SMA wire wrapped around two miniature pulleys to reduce the total length of the actuator.…”

Section: Actuator Designmentioning

confidence: 99%

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

Villoslada

Caballero

Copaci

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

This paper presents a novel Shape Memory Alloy (SMA) linear actuator and its application driving the joints of an anthropomorphic robotic hand. Its main feature is that it is a flexible SMA actuator, it is designed so that it can be bent. The possibility of bending the actuator while preserving its capacity to produce a linear movement allows to use very long SMA wires, able to yield a great linear displacement, in a confined space. This feature provides better integration and adaptability than other existing high-displacement SMA actuators. The mechanical design of the presented SMA flexible actuator is based on the Bowden cable transmission system, using a multilayer sheath with a PTFE inner sheath to reduce friction losses and a stainless steel outer sheath that functions as a heat sink to reduce the cooling time of the SMA element. To test the SMA actuator with a real device, a robotic hand has been built using low cost rapid prototyping techniques from an open source design. The designed flexible SMA actuator has a great potential to be used in humanoid robots or robotic prostheses, due to its adaptability, output force, low weight and silent operation.

show abstract

“…Frequently, robots are designed as rigid structures, but recently some works have shown that the use of flexible bodies, actuators, and sensors could improve considerably the performance of the robots to interact with the environment, this kind of robots is known as soft robots. Soft robotic [1] systems could be able to improve grasping and manipulation, because they use: (i) elastic and deformable bodies, (ii) unconventional materials (like smart materials, shape memory alloy [2], i.a.) and (iii) high number of degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

Morphological Optimization of Prosthesis’ Finger for Precision Grasping

Ramírez

Rubiano

Jouandeau³

et al. 2016

New Trends in Medical and Service Robots

View full text Add to dashboard Cite

In this paper, we present the morphological optimization of our tendon driven underactuated robotic hand prosthesis' finger, to improve precision grasping. The optimization process is performed with a black box optimizer that considers simultaneously kinematic and dynamic constraints. The kinematic is computed with the Denhavit-Hartenberg parameterization modified by Khalil and Kleinfinger and the dynamic is computed from the virtual displacements and the virtual works. All these constraints are considered as a fitness function to evaluate the best morphological configuration of the finger. This approach gives a way to introduce and improve soft and flexible considerations for the grasping robots such as hands and grippers. Theoretical and experimental results show that flexible links combined with morphological optimization, lead in more precise grasping. The results of the optimization, show us an important improvement related to size, torque and consequently energy consumption.

show abstract

Design of an innovative prosthetic hand with compact shape memory alloy actuators

Cited by 11 publications

References 16 publications

Application of NiTi in Assistive and Rehabilitation Devices: A Review

Application of NiTi in Assistive and Rehabilitation Devices: A Review

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

Morphological Optimization of Prosthesis’ Finger for Precision Grasping

Contact Info

Product

Resources

About