Shape memory alloy micromotors for direct-drive actuation of dexterous artificial hands

https://doi.org/10.1016/0250-6874(89)80071-XGet rights and content

Abstract

This paper presents basic considerations on the design of small lightweight motors intended primarily for actuating robotic and prosthetic hands. New actuators, compact enough to be incorporated in the links of articulated hands, have the potential for significantly improving hand dexterity by reducing the control complexity, friction and backlash intrinsically associated with present tendon-based actuation techniques. In order to develop motor units for actuating the joints of a three-link anthropomorphic finger developed in our laboratory, we have investigated the technology of shape memory alloys (SMAS). The SMA actuator consists of two motor modules working in push-pull mode and located inside the structure of the proximal finger phalanx. The design and mechanical performance of each module are presented. Experimental results indicate that SMAS, despite some control problems originating from the intrinsic complexity of their thermoelastic behaviour, can be effectively used for the intended goal.

References (4)

  • J.C. Becker et al.

    A study of the range of motion of human fingers with application to anthropomorphic designs

    IEEE Trans. Biomed. Eng.

    (1988)
  • L.M. Schetky

    Shape memory alloys

    Sci. Am.

    (1979)
There are more references available in the full text version of this article.

Cited by (38)

  • Humido-sensitive conducting polymer films and applications to linear actuators

    2013, Reactive and Functional Polymers
    Citation Excerpt :

    As shown in Fig. 10, the Braille cell can display Japanese characters of “Ya”, “Ma”, “Na”, and “Shi” by driving the individual linear actuators. Similarly, shape memory alloy (SMA) actuators are driven by electrical Joule heating where deformation is caused by thermal phase transition between austenitic and martensitic phases [26]. However, it is difficult to control not only phase transition temperature decided by the composition of alloys but also intermediate states between the two phases.

  • Humidity-Sensitive Conducting Polymer Actuators

    2019, Soft Actuators: Materials, Modeling, Applications, and Future Perspectives: Second Edition
View all citing articles on Scopus
View full text