Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

Abstract

This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires’ muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots.

Shape Memory Alloys Patches to Mimic Rolling, Sliding, and Spinning Movements of the Knee

“…Flexible and lightweight soft actuators are suitable for muscle mimicry and soft wearable robots, making them for mimicking knee movement. A notable example of a soft actuator is the shape memory alloy (SMA) [24,25]. The SMA deforms above its transformation temperature when heated.…”

Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

“…Narumi proposed a biomimetic prosthetic hand with bones, ligaments, tendons, and multiple muscles based on the human musculoskeletal system [15]. Liu designed a biomimetic finger based on anatomical structures actuated by SMA with hard and soft modes [16].…”

“…Narumi proposed a biomimetic prosthetic hand with bones, ligaments, tendons, and multiple muscles based on the human musculoskeletal system [ 15 ]. Liu designed a biomimetic finger based on anatomical structures actuated by SMA with hard and soft modes [ 16 ]. Additionally, Francisco presented a neurobiological control for anthropomorphic robotic systems to generate human-like movement [ 17 ].…”