Hybrid-Actuated Finger Prosthesis with Tactile Sensing

Abstract

Finger prostheses are devices developed to emulate the functionality of natural human fingers. On top of their aesthetic appearance in terms of shape, size and colour, such biomimetic devices require a high level of dexterity. They must be capable of gripping an object, and even manipulating it in the hand. This paper presents a biomimetic robotic finger actuated by a hybrid mechanism and integrated with a tactile sensor. The hybrid actuation mechanism comprises a DC micromotor and a Shape Memory Alloy (SMA) wire. A customized test rig has been developed to measure the force and stroke produced by the SMA wire. In parallel with the actuator development, experimental investigations have been conducted on Quantum Tunnelling Composite (QTC) and Pressure Conductive Rubber (PCR) towards the development of a tactile sensor for the finger. The viability of using these materials for tactile sensing has been determined. Such a hybrid actuation approach aided with tactile sensing capability enables a finger design as an integral part of a prosthetic hand for applications up to the transradial amputation level.

Adaptive Controller Algorithm for 2-DOF Humanoid Robot Arm

“…5, the torque required to control the 2-DOF limbs range between ±7Nm, depending on the application of the controller. Even though, this algorithm is designed to suit the human upper arm and forearm, nevertheless the algorithm can also be implemented to other applications such as robotic finger rehabilitation device [24].…”

A lightweight shoulder prosthesis with antagonistic impact-absorbing hybrid actuation for bimanual activities of daily living

“…Two PEAs were used in parallel on each side as shown in Figure 1(b) (a total of four PEAs), and their lengths were adjusted while considering equation (1), and the radius, r, of the pulley was set to 30 mm in order to compare the PEAs and AM joint with the motor joint under similar conditions. Weights of 0.98 and 1.96 N were dropped from a height of 30 mm and collided with a cover which was fixed on the L F for avoiding a collision with the PEAs, as shown in Figure 1 Waveform for 0.5 s (1000 measured points); First peak of impact force; Second peak of impact force; Time from collision to second peak; Average of impact difference value (Id) for 0.4 s.…”

System Integration and Control of Finger Orthosis for Post Stroke Rehabilitation

“…The approach may be accomplished with daily rehabilitation frequency for up to several months, depending on the severity of the finger and the condition of the patient [6]. In order to be recovered to a normal life, the patient needs time and consistent doing the rehabilitation assisted by the physiotherapist [7]. However, since the number of the physiotherapist is limited, it will not be easy for the patient to do the rehabilitation which needs to be supported by the physiotherapist all the time [8].…”