Robotic hand with locking mechanism using TCP muscles for applications in prosthetic hand and humanoids

Saharan, Lokesh; Tadesse, Yonas

doi:10.1117/12.2219535

Cited by 24 publications

(17 citation statements)

References 6 publications

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“…The number of joints in a robotic hand varies depending on the chosen architecture. Commonly, fingers from index to little have 3 to 4 DOM each and are able to flex or extend, and abduct or adduct [24,45,[109][110][111][112][113][114]. There is some research that introduced untypical link applications or reductions [106,115,116].…”

Section: Joint Configurationsmentioning

confidence: 99%

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Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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The subject of human-hand versatility has been intensively investigated for many years. Emerging robotic constructions change continuously in order to mimic natural mechanisms as accurately as possible. Such an attitude is motivated by the demand for humanoid robots with sophisticated end effectors and highly biomimic prostheses. This paper provides wide analysis of more than 80 devices that have been created over the last 40 years. It compares both the mechanical structure and various actuators from conventional DC motors and servomechanisms, through pneumatic muscles, to soft actuators and artificial muscles. Described measured factors include angles, forces, torques, tensions, and tactiles. Furthermore, the appropriate statistics of kinematic configuration, as well as the type or number of drive units and sensory systems, show not only recent problems, but also trends that will be followed in the future.

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Section: Joint Configurationsmentioning

confidence: 99%

“…Parameters such as a high power-to-weight ratio, elasticity, and cheap and easy fabrication make them a prospective solution in robotic applications [145]. Saharan and Tadesse in [113] presented electrically powered muscles that actuated both a finger and a locking mechanism. More sophisticated control is realised by liquid flow.…”

Section: Actuator Typesmentioning

confidence: 99%

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

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“…Twisted and Coiled Polymeric muscles were fabricated using automated fabrication system utilizing an DC motor using the same nylon precursor fiber from Shieldex Trading, Inc. and following our prior works (Wu et al 2017;Saharan and Tadesse 2016). Essentially, the muscles were prepared from silver coated nylon 6,6 threads.…”

Section: Tcp Muscle Preparationmentioning

confidence: 99%

“…2a) were fabricated, in batch 1 and 2. In batch 1, the muscles were then annealed by suspending 350 g dead weight and applying an increasing voltage proportional to the length of the TCP muscle using (*1.2 9 length of the muscle in inches (Sahran and Tadesse 2016;Saharan and Tadesse 2016) until the muscle reaches steady state. The muscles were then trained by applying a voltage equal to the last annealing voltage, 7 V, and suspending a weight of 200 g (Fig.…”

Section: Tcp Muscle Preparationmentioning

confidence: 99%

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

Almubarak

Tadesse

2017

Int J Intell Robot Appl

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Researchers are seeking to create robots that could conform to non-uniform objects during handling and manipulation. High performance artificial muscles are the key factors that determine the capabilities of a robot. Twisted and coiled polymeric (TCP) muscle embedded in soft silicone skin solves some of the problems of soft robots in attaining morphed structure using low voltages, contrary to other technologies such as dielectric elastomer and piezoelectric. Furthermore, the TCP actuation system does not generate noise like pneumatic systems. The TCP embedded skin shows great promise for robotics to mimic the flexible appendages of certain animals. In this paper, we present experimental results on the effect of muscle placement and the thickness of the artificial skin on the actuation behavior, which can be used as a benchmark for modeling. We demonstrate the effect of three different skin thicknesses and three different muscle locations within the skin, by taking experimental deformation data from stereo camera. In general, two modes of actuations (undulatory and bending) were observed depending on the muscle placement, skin thickness, applied voltage, and actuation time. The thinner skin showed two-wave undulatory actuation in most cases, whereas the 4 mm skins showed mixed actuation and the 5 mm skins exhibited one-wave undulatory actuation. In all cases, the increase in voltage resulted in higher magnitudes of actuation. In addition, we showed consistent strain of the TCP muscles from 18 samples from two batches that produced an average strain of 22% (batch 1) to 20% (batch 2) with standard deviation of 2.5-1.8% respectively.

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“…Saharan and Tadesse [35] developed a robotic hand with locking mechanism, while Cho et al [36] worked on yet another a robotic finger. It is clear the favourable form factor of the TCP has inspired many researchers to incorporate them into robotic arms/hands/fingers.…”

Section: Demonstration Of Tcp Capabilitiesmentioning

confidence: 99%

A compliant gripper with integrated twisted-coiled polymer muscles

Loke¹

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The field of soft robotics has emerged as a viable complement to conventional industrial robotics. Soft robotics does not displace industrial robots from their traditional roles, but extends the benefits of robotic technology into fields where traditional robots have proven inadequate. The foundation of a robot's 'softness' is derived from its structure and actuation mechanism(s). The twisted coiled polymer (TCP) artificial muscle, discovered in recent years by Haines, has shown promise as a potential solution to the actuation needs of such soft robots. This study aims to characterise the properties and behaviour of TCP actuators, and the precursor fibres used to make them. To that end, a twist insertion rig and a heating element winding device were built to fabricate Joule heated TCP actuators while a tensile actuator test rig was constructed for the characterisation work. An optimal heating element insertion method was identified through testing; the TCPs thus produced are capable of maximal strokes of 27%, matching the best performance of even TCPs without inserted heating elements. In a first such study, the effect of fibre draw ratio on TCP performance was investigated and the results presented. Based on the foundation work conducted, the specifications for a demonstrator which highlights the unique strengths of TCP artificial muscle were laid down. An intrinsically powered compliant gripper design capable of multiple degrees of freedom motions was chosen to demonstrate the close integration of a network of lightweight artificial muscle with an adaptive structure. A breakdown of the design thought process, as well as the analytical basis for the design features which serve as the building blocks for the compliant gripper, is detailed in this report. The compliant gripper was 3D printed in PETG and successfully assembled with the TCP muscles. The gripper comprises a parallel opening/closing jaw and a rotating jaw. The gripper is submitted to gripping tests and the results are presented.

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Robotic hand with locking mechanism using TCP muscles for applications in prosthetic hand and humanoids

Cited by 24 publications

References 6 publications

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

A compliant gripper with integrated twisted-coiled polymer muscles

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