To address the need for a commercially feasible prosthetic hand, the current work presents the design of a new humanoid hand actuated using shape memory alloy (SMA) artificial muscle wires. The hand has 3 compliant fingers and a thumb attached to the palm. The palm structure is a novel design, which is based on the natural arches of the human hand to provide better grasping capabilities. A compact actuator module is proposed to house and cool the SMA wires. Design parameters of the hand were selected to maximize the work density. The hand is lightweight, low cost, and operates silently. It has functional opening and closing speeds and fingertip force.
TaiE.. Design of an anthropomorphic robotic hand for space operations [master's thesis].University of Maryland, Maryland, USA: Maryland Press; 2007.
5.
SchulzS., PylatiukC., BretthauerG.. A new ultralight anthropomorphic hand. Proceedings of the 2001 IEEE International Conf on Robotics & Automation; 2001.
6.
CarrozzaM.C., LazzariniR., CutkoskyM.R., DarioP.. The SPRING hand: development of a self-adaptive prosthesis for restoring natural grasping.Auton Robots.2004; 16: 125–141. doi: 10.1023/B:AURO.0000016863.48502.98
7.
NaiduD.S., ChenC., PerezA., SchoenM.P.. Control strategies for smart prosthetic hand technology: an overview. Proceedings of the 30th annual international IEEE EMBS conference, Vancouver, British Columbia, Canada, 2008.
DalleyS.A., WisteT.E., WithrowT.J., GoldfarbM.. Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation.IEEE/ASME Transactions on Mechatronics2009; 14: 699–706.
10.
PfeifferC., De LaurentisK., MavroidisC.. Shape memory alloy actuated robot prosthesis: initial experiments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, USA. 1999: 2385–2391.
11.
MahmoudR., UenoA., TatsumiS.. Dexterous mechanism design for an anthropomorphic artificial hand: Osaka City University Hand I. Proceedings of the 2010 IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA; 2010.
12.
Del CuraV.O., CunhaF.L., AguiarM.L., CliquetA.Jr.. Study of the different types of actuators and mechanisms for upper limb prostheses.Artificial Organs2003; 27(6): 507–516.
LohC.S., YokoiH., AraiT.. New shape memory alloy actuator: design and application in the prosthetic hand. Proceedings of the 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference, Shanghai, China, 2005.
15.
De LaurentisK.J., MavroidisC.. Mechanical design of a shape memory alloy actuated prosthetic hand.Technol Health Care.2002; 10(2): 91–106. Medline.
16.
O'TooleK.T., McGrathM.M.. Mechanical design and theoretical analysis of a four fingered prosthetic hand incorporating embedded SMA bundle actuators.Proceedings of World Academy of Science, Engineering and Technology2007; 25: 142–149.
17.
BundhooV., HaslamE., BirchB., ParkE.. A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers: Part I: design and evaluation.Robotica.2008; 27: 131–146. doi: 10.1017/S026357470800458X
18.
MosleyM.J., MavroidisC.. Design and control of a shape memory alloy wire bundle actuator. Proceedings of DETC'00: 26th Biennial Mechanisms and Robotics Conference. Baltimore, MD, USA; 2000: 10–13.
19.
Kyu-JinC., AsadaH.H., Architecture design of a multiaxis cellular actuator array using segmented binary control of shape memory alloy. IEEE Transactions on Robotics.August2006; 26: 831–843.
20.
FreivaldsA.. Biomechanics of the upper limb mechanics, modeling, and musculoskeletal injuries.Boca Raton, Florida, USA: CRC Press; 2004.
21.
KimB.. A joint motion planning based on a bio-mimetic approach for human-like finger motion.International Journal of Control, Automation, and Systems.2006; 4: 217–226.
BiggsJ., HorchK.. A three-dimensional kinematic model of the human long finger and the muscles that actuate it.Med Eng Phys.1999; 21(9): 625–639. Medline. doi: 10.1016/S1350-4533(99)00095–8
24.
PaiA.. A phenomenological model of shape memory alloys including time-varying stress [master's thesis].University of Waterloo, Waterloo, Canada: Waterloo Press; 2007.
25.
NascimentoM., De AraújC.J., De AlmeidaL., NetoJ.S., LimaA.M.. A mathematical model for the strain–temperature hysteresis of shape memory alloy actuators.Materials and Design2008; 30: 551–556.
26.
DuttaS.M.. Differential hysteresis modeling of a shape memory alloy wire actuator.IEEE/ASME Trans Mechatron.2005; 10: 2. doi: 10.1109/TMECH.2005.844709
27.
ShameliE., AlastyA., SalaariehH.. Stability analysis and nonlinear control of a miniature shape memory alloy actuator for precise applications.Mechatronics.2005; 15: 471–486. doi: 10.1016/j.mechatronics.2004.10.001
28.
MeierH., OelschlaegerL.. Numerical thermomechanical modelling of shape memory alloy wires.Mater Sci Eng A.2004; 378: 484–489. doi: 10.1016/j.msea.2003.09.113
29.
Agwu NnannaA.G., RutherfordW., ElomarW., SankowskiB.. Assessment of thermoelectric module with nanofluid heat exchanger.Appl Therm Eng.2009; 29: 491–500. doi: 10.1016/j.applthermaleng.2008.03.007
TrivediA.. Thermo-mechanical solutions in electronic packaging: component to system level [master's thesis]. The University of Texas at Arlington: Texas Press; 2008.
De BonaF., MunteanuM.G.. Optimized flexural hinges for compliant micromechanisms.Analog Integr Circuits Signal Process.2005; 44(2): 163–174. doi: 10.1007/s10470-005-2597-7
34.
SangoleA.P., LevinM.F.. Arches of the hand in reach to grasp.J Biomech.2008; 41(4): 829–837. Epub 2008 Feb 20. Medline. doi: 10.1016/j.jbiomech.2007.11.006
35.
NordinM.. Basic biomechanics of the muscloskeletal system.Philadelphia, USA: Lea & Febiger Press; 1989.
36.
KargovA., PylatiukC., MartinJ., SchulzS., DöderleinL.. A comparison of the grip force distribution in natural hands and in prosthetic hands.Disabil Rehabil.2004; 26(12): 705–711. Medline. doi: 10.1080/096382804 10001704278
