In this study, we report a multimodal energy harvesting device that combines electromagnetic and piezoelectric energy harvesting mechanism. The device consists of piezoelectric crystals bonded to a cantilever beam. The tip of the cantilever beam has an attached permanent magnet which, oscillates within a stationary coil fixed to the top of the package. The permanent magnet serves two purpose (i) acts as a tip mass for the cantilever beam and lowers the resonance frequency, and (ii) acts as a core which oscillates between the inductive coils resulting in electric current generation through Faraday's effect. Thus, this design combines the energy harvesting from two different mechanisms, piezoelectric and electromagnetic, on the same platform. The prototype system was optimized using the finite element software, ANSYS, to find the resonance frequency and stress distribution. The power generated from the fabricated prototype was found to be 0.25 W using the electromagnetic mechanism and 0.25 mW using the piezoelectric mechanism at 35 g acceleration and 20 Hz frequency.

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This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.

Application of shape memory alloy (SMA) actuators is limited to low frequencies due to slow cooling time especially in the embedded conditions where heat transfer rate is the controlling factor. In this study, we investigate various active cooling techniques and effect of pre-stress to improve the response time of two commercially available SMAs: Flexinol from Dynalloy Inc. and Biometal fiber from Toki Corporation. Flexinol and Biometal fiber of equal length and diameter were found to exhibit different actuation behavior under pre-stress. Time domain force response of SMA actuators was found to be dependent upon the applied pre-stress, heating rate, and amplitude of applied electrical stimulus. Compared to Biometal fibers, time domain response of Flexinol was found to decrease significantly with increasing pre-stress indicating the difference in transformation behavior. Fluid flow and heat sinking were found to be suitable methods for improving the response time by reducing the cooling cycle from 1.6 s to 0.30—0.45 s. This is a significant improvement in the actuation capability of SMAs.

Several works have been reported in powered hand orthosis in the last ten years for assistive or rehabilitative purposes. However, most of these approaches uses conventional actuators such as servo motors to power orthosis. In this work, we demonstrate the recently reported twisted and coiled polymeric (TCP) muscles to drive a compact, light, inexpensive and wearable upper extremity device, iGrab. A 3D printed orthotic hand module was designed, developed and tested for the performance. The device has six 2-ply muscles of diameter 1.35 mm with a length of 380 mm. We used a single 2-ply muscle for each finger and two 2-ply muscles for the thumb. Pulsed actuation of the muscles at 1.8 A current for 25 s with 7% duty cycle under natural cooling showed full flexion of the fingers within 2 s. Modeling and simulation were performed on the device using standard Euler–Lagrangian equations. Our artificial muscles powered hand orthosis demonstrated the capability of pinching and picking objects of different shapes, weights, and sizes.