Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators
Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators
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DOI：
10.1007/s10846-014-0061-6
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发表时间：
2015-05-01
影响因子：
3.3
通讯作者：
Tzes, Anthony
中科院分区：
文献类型：
--
作者：
Andrianesis, Konstantinos;Tzes, Anthony
在这篇研究论文中，非传统的驱动技术，基于形状记忆合金，用于开发一种创新的低成本的五指假手。通过利用这些合金的独特性能，实现了紧凑、静音和模块化的致动系统，并将其集成在轻质和拟人的快速原型手底盘中。肌腱驱动的欠驱动机构提供了必要的灵活性，同时保持装置的机械和控制复杂性低。触觉传感器集成在指尖，改善了整体的手控制。嵌入式定制的电子手接口和控制也提出和分析。对于每个数字的位置控制，一种新的电阻反馈控制方案的设计和实现。与目前最先进的商业设备相比，该原型中应用的技术在尺寸、重量和噪音方面提供了一系列改进，这将使上肢截肢者能够更舒适地执行基本的日常任务。
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.