Development of a new generation prosthetic hand with fast responsive SMA based artificial muscle and large load-holding capability

开发具有快速响应SMA基人工肌肉和大承载能力的新一代假手

• 批准号: 19K23476
• 负责人: Sun Shuaishuai
• 金额: $ 1.83万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Research Activity Start-up
• 财政年份: 2019
• 资助国家: 日本
• 起止时间: 2019-08-30 至 2021-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-19K23476/
• 关键词: Prosthetic hand; MR exoskeleton; Artificial muscle; artificial muscle; Adaptive finger joint; Fast response; Large holding capability

Shape memory alloy (SMA) wires are now the preferred choice for soft artificial muscles. However, SMA artificial muscles have two problems, including limited load holding ability due to their soft nature and slow response due to their long cooling-off period. In response this research developed a fast response magnetorheological elastomer (MRE) artificial muscle based on SMA and a controllable magnetorheological fluid (MRF) exoskeleton to improve the loading capability. This new artificial muscle retains its soft nature and also accelerates the cooling speed of its SMA wire to increase its response speed. The controllable MRF exoskeleton is flexible enough to allow the soft fingers to bend as required while being stiff enough to hold up heavy loads. From the beginning of this year, I have built a control circuit and program for the new artificial muscle and after that, the new artificial muscle and MR exoskeleton have been assembled to be a finger for further testing. The bending performance of the finger has been conducted. The maximum bending angle and the response speed of the finger have been evaluated. The holding capability of the new prosthetic finger has also been evaluated. Our testing results proved that this new artificial muscle, compared with conventional SMA artificial muscles, can improve the response speed by up to 333% while straightening. The new artificial muscle and the MRF exoskeleton assembled a robotic finger and our tests verified that the loading capability of the new finger has increased by 440% compared to the pure SMA manipulator.

形状记忆合金(SMA)钢丝现在是柔软人造肌肉的首选。然而，SMA人工肌肉存在两个问题，一是肌肉柔软，承载能力有限；二是冷静期长，反应慢。对此，本研究开发了基于SMA和可控磁流变液(MRF)外骨骼的快速响应磁流变弹性体(MRE)人工肌肉，以提高其承载能力。这种新的人造肌肉既保持了其柔软的性质，又加快了SMA钢丝的冷却速度，以提高其响应速度。可控的磁流变液外骨骼足够灵活，允许柔软的手指根据需要弯曲，同时足够僵硬，可以支撑沉重的负载。从今年年初开始，我已经为新的人造肌肉建立了控制电路和程序，之后，新的人造肌肉和MR外骨骼已经组装成手指进行进一步的测试。对手指的弯曲性能进行了测试。计算了手指的最大弯曲角和响应速度。对新型假指的握持能力也进行了评估。测试结果表明，与传统的SMA人工肌肉相比，这种新型人工肌肉在矫直时的响应速度最高可提高333%。新的人工肌肉和磁流变液外骨骼组装了一个机器人手指，我们的测试验证了新手指的承载能力比纯SMA机械手提高了440%。

项目成果

Development of New Generation Prosthetic Fingers with Fast Responsive SMA Artificial Muscles and MR Joints

开发具有快速响应 SMA 人工肌肉和 MR 关节的新一代假肢手指

• 发表时间: 2019
• 作者: Shuaishuai Sun;Jian Yang;Masami Nakano;Weihua Li
• 通讯作者: Weihua Li

Development and damping properties of a seismic linear motion damper with MR fluid porous composite rotary brake

• DOI: 10.1088/1361-665x/abb645
• 发表时间: 2020-10
• 期刊: Smart Materials and Structures
• 影响因子: 4.1
• 作者: M. Nakano;Jian Yang;Shuaishuai Sun;A. Totsuka;Akira Fukukita

The applications of Magnetorheological technology on locomotive robots

磁流变技术在机车机器人上的应用

• 发表时间: 2019
• 作者: Shuaishuai Sun;Jian Yang;Masami Nakano
• 通讯作者: Masami Nakano

Design and experimental evaluation of a new modular underactuated multi-fingered robot hand

新型模块化欠驱动多指机械手的设计与实验评估

• DOI: 10.1177/0954406220916494
• 发表时间: 2020-04-08
• 期刊: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
• 影响因子: 2
• 作者: Tang, Shufeng;Yu, Yue;Li, Weihua
• 通讯作者: Li, Weihua

A magnetorheological elastomer rail damper for wideband attenuation of rail noise and vibration

• DOI: 10.1177/1045389x19873406
• 发表时间: 2019-08-30
• 期刊: JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES
• 影响因子: 2.7
• 作者: Sun, Shuaishuai;Yang, Jian;Li, Weihua
• 通讯作者: Li, Weihua