The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

Tavakoli, Mahmoud; Batista, Rafael; Sgrigna, Lucio

doi:10.3390/act5010001

Cited by 45 publications

(13 citation statements)

References 22 publications

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“…Relevant information is provided in refs. [38][39][40][41][42][43][44][45][46] for a robotic hand or finger design, but one of the first usage of coiled shape memory alloy (SMA) muscles in a robotic finger via antagonistic pairs occurred in an earlier work in 1989. Bergamasco et al demonstrated coiled SMA muscles (0.45 mm wire diameter, 1.5 mm spring diameter, 14 coils and length of 6.3 mm) capable of lifting 3.5 N load a height of 10 mm at 0.11 Hz [45].…”

Section: Literature Reviewmentioning

confidence: 99%

A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA

Deng¹,

Tadesse²

2020

Actuators

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Robotic hands with unique designs, capabilities and applications have been presented in the literature focusing on sensing, actuation, control, powering and manufacturing, most of which are created by manual assembly process. However, due to advancements in additive manufacturing, new capabilities have replaced traditional methods of manufacturing. In this paper, we present a soft 3D-printed robotic hand actuated by custom-made coiled shape memory alloy (SMA) actuators. The hand uses additive manufacturing of flexible thermoplastic polyurethane (TPU) material, which allows flexing at the joint and hence eliminates the need for additional assembly. Here, we present the full characteristics of the robotic hand such as object grasping categorized by size and weight from the ARAT kit and others. The robotic hand is 425 mm in length, weighs 235 g and is able to operate at a frequency of 0.125 Hz without active cooling. It can grasp an object of 55–81 mm widths, weighing up to 133 g, while consuming an average power of 7.82 W. We also show the time domain response of our custom-made coiled SMA to different current inputs, and its corresponding force and displacement. The current design yields a lightweight and low cost artificial hand with significantly simplified manufacturing for applications in robotics and prosthetics.

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Section: Literature Reviewmentioning

confidence: 99%

A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA

Deng¹,

Tadesse²

2020

Actuators

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“…The first type has softness at joints, e.g., snake-like gripper [6], FRH-4 hand [7], SDM hand [8][9], Pisa-IIT Hand [10][11], SoftHand Pro-D [12], ISR-SoftHand [13], UC-SoftHand [14], Velo Gripper [15], and adaptive prismatic gripper with passive rotational joints [16]. The second type has softness at surfaces, e.g., gel fingertips [17], ISR-SoftHand [13], UC-SoftHand [14], Kanazawa hand [18], deep reef sampling gripper [19], and magnetic fields based gripper [20]. Similar to ISR-SoftHand [13] and UC-SoftHand [14], there are robotic hands that possess both types of softness.…”

Section: A Related Workmentioning

confidence: 99%

“…The second type has softness at surfaces, e.g., gel fingertips [17], ISR-SoftHand [13], UC-SoftHand [14], Kanazawa hand [18], deep reef sampling gripper [19], and magnetic fields based gripper [20]. Similar to ISR-SoftHand [13] and UC-SoftHand [14], there are robotic hands that possess both types of softness. Using pneumatic actuators facilitates combination of softness types, for example, in ROBO hand [21][22], Starfish-like hand [23], lightweight underactuated pneumatic fingers [24], soft elastomer quadrupedal robots [25], safe interaction gripper [26], inflatable rubber pockets based gripper [27], puncture resistant soft gripper [28], modular soft robotic grippers [29], and jamming gripper [30] [31].…”

Section: A Related Workmentioning

confidence: 99%

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Nishimura

Mizushima

Suzuki

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-A novel robotic gripper with soft surfaces and underactuated joints was proposed. The soft surface was fabricated from a deformable rubber bag filled with incompressible fluid and a microgripper inside the fluid. A ratchet was installed at the underactuated joint so that the joint's rotation caused by contact with an environment, such as a supporting surface, can be preserved, and the actions of scooping and enveloping an object are realized. With one actuator, the gripper realized three modes i.e., parallel gripper, pinching, and enveloping. The range of graspable objects was wide and included soft, rigid, deformable, fragile, small (boundary length less than 30 mm), large (more than 80 mm long), thin (less than 0.5 mm) and heavy (more than 3 kg) objects.

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“…The material used for the hand will be affordable and lightweight. The studies of myoelectric prosthetic hands based on 3D printing have been proposed by some universities such as Tact [10], Rehand [11], Smart Hand [12], Keio Hand [13], AstoHand [14,15], UC Softhand [16], ISR-Softhand [17], and other prosthetic hands [16][17][18][19][20][21][22]. The mass of the hands on those research works are less than 500 grams.…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic transradial myoelectric hand using tendon-spring mechanism

et al. 2019

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In the developing countries, the need for prosthetic hands is increasing. In general, transradial amputee patients use prosthetic hands that are passive like a body-powered prosthesis. This research proposes a low-cost myoelectric prosthetic hand based on 3D printing technology. Hand and finger size were designed based on the average size of human hands in Indonesia. The proposed myoelectric hand employs linear actuator combined with the tendon-spring mechanism. Myoelectric hand was developed with five modes of grip pattern to perform various objects grasping in activity of daily living. Control strategy had been developed for controlling the motion of flexion and extension on the hand and saving the energy consumed by the actuators. The control strategy was developed under MATLAB/Simulink environment and embedded to Arduino Nano V3 using Simulink Support Package for Arduino Hardware. Surface electromyography (EMG) sensor was used in this research for reading the muscle activity of the user/wearer. The proposed myoelectric hand had been tested in object grasping test and was implemented on a study participant with transradial amputee.

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The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

Cited by 45 publications

References 22 publications

A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA

A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Anthropomorphic transradial myoelectric hand using tendon-spring mechanism

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