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Titel: A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation
VerfasserIn: Simone, Filomena
Rizzello, Gianluca
Seelecke, Stefan
Motzki, Paul
Sprache: Englisch
Titel: Frontiers in Robotics and AI
Bandnummer: 7
Verlag/Plattform: Frontiers
Erscheinungsjahr: 2020
Freie Schlagwörter: robotic hand
SMA wires
soft hand
metal muscles
shape memory alloys
DDC-Sachgruppe: 500 Naturwissenschaften
Dokumenttyp: Journalartikel / Zeitschriftenartikel
Abstract: This work presents a novel five-fingered soft hand prototype actuated by Shape Memory Alloy (SMA) wires. The use of thin (100µm diameter) SMA wire actuators, in conjunction with an entirely 3D printed hand skeleton, guarantees an overall lightweight and flexible structure capable of silent motion. To enable high forces with sufficiently high actuation speed at each fingertip, bundles of welded actuated SMA wires are used. In order to increase the compliance of each finger, flexible joints from superelastic SMA wires are inserted between each phalanx. 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. 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 maximum achievable displacement of each finger phalanx is measured together with the phalanxes dynamic responsiveness at different power stimuli. Several force measurement are also realized at each finger phalanx. The versatility of the prototype is finally demonstrated by presenting several possible hand configurations while handling objects with different sizes and shapes.
DOI der Erstveröffentlichung: 10.3389/frobt.2020.608841
URL der Erstveröffentlichung: https://doi.org/10.3389/frobt.2020.608841
Link zu diesem Datensatz: urn:nbn:de:bsz:291--ds-425278
hdl:20.500.11880/38158
http://dx.doi.org/10.22028/D291-42527
ISSN: 2296-9144
Datum des Eintrags: 2-Aug-2024
Bezeichnung des in Beziehung stehenden Objekts: Supplementary Material
In Beziehung stehendes Objekt: https://www.frontiersin.org/api/v3/articles/608841/file/Video_1.MP4/608841_supplementary-materials_videos_1_mp4/1?isPublishedV2=false
Fakultät: NT - Naturwissenschaftlich- Technische Fakultät
Fachrichtung: NT - Systems Engineering
Professur: NT - Prof. Dr. Stefan Seelecke
Sammlung:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons Creative Commons