Mechanical design of an anthropomorphic prosthetic hand for shape memory alloy actuation

Kady, Ahmed M. El; Mahfouz, Ahmed; Taher, Mona F.

doi:10.1109/cibec.2010.5716078

Cited by 10 publications

(7 citation statements)

References 7 publications

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“…with opposing joint (most devices) [95,101,[119][120][121][122][123][124], • placed in opposition [21,38,89,[125][126][127], and • manually reconfigurable [70,106,107].…”

Section: Joint Configurationsmentioning

confidence: 99%

“…Generally, when an alloy is under load and its temperature is increased, the material recovers to its original shape [33,144,145]. The most important advantage of this material is its small weight and noiseless work, appreciated in prosthetics [125]. Unfortunately, the phase-temperature characteristic has big hysteresis that causes control problems and was actually reported by many researchers [37,98,146].…”

Section: Actuator Typesmentioning

confidence: 99%

“…They must be mentioned as they are preferable passive back-drive actuators [72,140,161]. They are ordered to prestrech soft actuators for proper work [125] as well as to reduce oppositional-tendon tension [150] and eliminate backlash [20]. Furthermore, a known spring constant allows precise force and displacement measurement with an additional aperature [82].…”

Section: Actuator Typesmentioning

confidence: 99%

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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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The subject of human-hand versatility has been intensively investigated for many years. Emerging robotic constructions change continuously in order to mimic natural mechanisms as accurately as possible. Such an attitude is motivated by the demand for humanoid robots with sophisticated end effectors and highly biomimic prostheses. This paper provides wide analysis of more than 80 devices that have been created over the last 40 years. It compares both the mechanical structure and various actuators from conventional DC motors and servomechanisms, through pneumatic muscles, to soft actuators and artificial muscles. Described measured factors include angles, forces, torques, tensions, and tactiles. Furthermore, the appropriate statistics of kinematic configuration, as well as the type or number of drive units and sensory systems, show not only recent problems, but also trends that will be followed in the future.

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“…with opposing joint (most devices) [95,101,[119][120][121][122][123][124], • placed in opposition [21,38,89,[125][126][127], and • manually reconfigurable [70,106,107].…”

Section: Joint Configurationsmentioning

confidence: 99%

Section: Actuator Typesmentioning

confidence: 99%

Section: Actuator Typesmentioning

confidence: 99%

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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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“…Even so, in the past few years, there is an emerging shift in the software type used for small-scale engineering product development. Mesh modelling software has crept into the engineering market due to its flexibility, ease-of-use and its technology readiness (3D printing and scanning) (El Kady, Mahfouz, and Taher 2010;Spencer 2012;Berman 2012;Lipson and Kurman 2013). Triangle mesh modelling is gaining popularity again in the field of engineering design.…”

Section: Introductionmentioning

confidence: 99%

Structure-altering feature-based triangle mesh model editing for primitive-based engineering parts

Chen

Feng

2016

Journal of Engineering Design

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This paper presents a structure-altering feature-based editing scheme for triangle mesh models of primitives for engineering application. With the increasing usage of 3D scanning and 3D printing technologies in product design, triangle mesh has become a vital model format in engineering designs. Coupled with its flexible nature in shape manipulation, many design models are now constructed in a mesh form. However, methods to perform direct feature-based mesh model modifications are lacking. Editing features and their defining parameters is greatly underdeveloped for mesh models compared with their parametric model counterparts. Thus, the proposed scheme aims to enable structure-altering feature-based mesh editing through the imposition (mapping) of a feature information layer on top of the triangle mesh model. Feature-based editing is done on the feature information layer. Through information mapping, the mesh model adapts to changes in the feature information layer, resulting in a geometric representation that accurately reflects the feature information layer content. Large-scale model modifications with structure-altering edits are thus achievable for mesh models, allowing straightforward feature-based model editing without the loss of the flexible mesh representation. Numerous case studies have been done to illustrate the effectiveness of the presented feature-based editing scheme. ARTICLE HISTORY

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“…Human hand is able to realize a wide range of sophisticated movements that provides the ability to interact with the environment and communicate with other people (Clement et al, 2011). The loss of the upper limb may cause serious physical and psychological disorders in the life of an amputee (El Kady et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Structural numerical analysis of a three fingers prosthetic hand prototype

Joseacute¹,

Christopher²,

Manuel³

et al. 2013

Int. J. Phys. Sci.

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In spite of the importance of the finite element method analysis in the mechanical design, there are a few research works in the prosthetic hands design area that use this tool. This work uses the finite element method to perform a structural analysis of a prosthetic hand prototype during the cylindrical and tip grasp. Through geometric relations, a set of equations was developed in order to define the position of the prosthesis elements from the position of the actuator. The loads in the numerical analysis were calculated by modeling a static analysis, in which the forces that the fingers of the prosthesis can exert at the tip were obtained. The results are presented in a graphic form showing the load of the fingertip as function of the position of the actuator and the maximum force that can be exerted. It is shown as well the field stress present in the mechanism of the hand simulator for the most critical position and the field stress of the prosthesis prototype. Both parameters were calculated with the use of ANSYS Workbench 2.0 ®

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Mechanical design of an anthropomorphic prosthetic hand for shape memory alloy actuation

Cited by 10 publications

References 7 publications

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Structure-altering feature-based triangle mesh model editing for primitive-based engineering parts

Structural numerical analysis of a three fingers prosthetic hand prototype

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