Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators

Konstantinos Andrianesis, Antonios Tzes

    Research output: Contribution to journalArticle

    Abstract

    In this research paper, non-conventional actuation technology, based on shape memory alloys, is employed for the development of an innovative low-cost five-fingered prosthetic hand. By exploiting the unique properties of these alloys, a compact, silent and modular actuation system is implemented and integrated in a lightweight and anthropomorphic rapid-prototyped hand chassis. A tendon-driven underactuated mechanism provides the necessary dexterity while keeping the mechanical and control complexity of the device low. Tactile sensors are integrated in the fingertips improving the overall hand control. Embedded custom-made electronics for hand interfacing and control are also presented and analyzed. For the position control of each digit, a novel resistance feedback control scheme is devised and implemented. The functionality and performance of the developed hand is demonstrated in grasp experiments with common objects.When compared to the current most advanced commercial devices, the technology applied in this prototype provides a series of improvements in terms of size, weight, and noise, which will enable upper limb amputees to carry out their basic daily tasks more comfortably.

    Original languageEnglish (US)
    Pages (from-to)257-289
    Number of pages33
    JournalJournal of Intelligent and Robotic Systems: Theory and Applications
    Volume78
    Issue number2
    DOIs
    StatePublished - May 1 2015

    Fingerprint

    Prosthetics
    Shape memory effect
    Actuators
    Chassis
    Tendons
    Position control
    Feedback control
    Electronic equipment
    Sensors
    Costs
    Experiments

    Keywords

    • Multifingered hands
    • Resistance feedback control
    • Shape memory alloys
    • Smart actuators
    • Underactuated robots
    • Upper limb prosthetics

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

    Cite this

    Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators. / Andrianesis, Konstantinos; Tzes, Antonios.

    In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 78, No. 2, 01.05.2015, p. 257-289.

    Research output: Contribution to journalArticle

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