Shape Memory Alloys as Linear Drives in Robot Hand Actuation

Lange, Gerrit; Lachmann, Andreas; Rahim, Abdul; Ismail, Muhammad Hussain; Low, Cheng Yee

doi:10.1016/j.procs.2015.12.335

Cited by 15 publications

(6 citation statements)

References 6 publications

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“…When the springs are activated, they pull the tendon inside the polymer matrix and the asymmetric construction of the matrix leads to bending motion. SMAs have also been successfully used in micro-and macro-actuators for robotic fingers and hands [250,251]. NiTi shape memory alloys have also been employed in the biomedical field for surgical tools, dental implants, bone implants, and other medical equipment [252,253].…”

Section: Applicationsmentioning

confidence: 99%

The evolution of mechanical actuation: from conventional actuators to artificial muscles

Greco

Kotak

Pagnotta

et al. 2021

International Materials Reviews

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Mechanical actuators are defined as mechanical devices that convert an input energy into motion. Since the 1990s, advancements in the fields of robotics and automation have produced a critical need for the development of lightweight and efficient actuators capable of human-like motion. In the past few decades, extensive research activities in the fields of materials science and smart materials have led to the development of a novel type of actuator known as artificial muscles. This review paper describes the evolution of mechanical actuators from conventional technologies such as electric, hydraulic, and pneumatic actuators, to bioinspired artificial muscles. The working mechanism, manufacturing process, performance, and applications of different artificial muscles are described and compared with those of conventional actuators. Details on the cost, input sources, activation modes, advantages, and drawbacks of each artificial muscle technology are also provided to guide the reader through the intricate selection process of the bestsuited actuator for a specific application.

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Section: Applicationsmentioning

confidence: 99%

The evolution of mechanical actuation: from conventional actuators to artificial muscles

Greco

Kotak

Pagnotta

et al. 2021

International Materials Reviews

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“…Flexible artificial muscle using coiled shape memory alloy (SMA) wires were created [95] to establish bending motion. The possibility of using a parallel arrangement of SMA wires as an actuator in a robotic hand was showcased in [96]. A high-strain flexible actuator using SMA wire that is wrapped around the two pulleys housed inside the Bowden cable sheath for a wrist exoskeleton was designed [97].…”

Section: Artificial Musclementioning

confidence: 99%

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Ruth

Sohn

Kaliaperumal

et al. 2022

Sensors

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This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.

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“…Considering semi-soft robotic hands, especially in the research of biomimetic robotic hands, the conventional approach to design an anthropomorphic robotic hand usually uses mechanical components to replicate biological structure, typically using universal joints to replicate finger joints [ 7 , 8 ], using concise geometric shapes to replace the complex forms of human finger bones [ 6 ], and using SMA wires [ 9 ] or cable [ 10 ] to replicate tendons for driving robotic fingers.…”

Section: Introductionmentioning

confidence: 99%

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

Liu,

Zheng,

Hliboký

et al. 2024

Biomimetics

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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.

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Shape Memory Alloys as Linear Drives in Robot Hand Actuation

Cited by 15 publications

References 6 publications

The evolution of mechanical actuation: from conventional actuators to artificial muscles

The evolution of mechanical actuation: from conventional actuators to artificial muscles

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

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

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