Design and control of a shape memory alloy based dexterous robot hand

Smart Materials and Structures

Volumn 16, Issue 4, 2007, Pages 1401-1414

  Price, A D ^a   Jnifene, A ^b   Naguib, H E ^a  

^a UNIVERSITY OF TORONTO   (Canada)

^b ROYAL MILITARY COLLEGE OF CANADA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; PROSTHETICS; ROBOT PROGRAMMING; SERVOMOTORS; SHAPE MEMORY EFFECT;

ACTUATION TECHNOLOGY; ARTIFICIAL MUSCLES; DEXTEROUS ROBOTICS; PROSTHETIC DEVICES;

ROBOTIC ARMS;

EID: 34547435802     PISSN: 09641726     EISSN: 1361665X     Source Type: Journal    
DOI: 10.1088/0964-1726/16/4/055     Document Type: Article

References (39)

1. Lagoudas D C, Entchev P B, Popov P, Patoor E, Brinson L C and Gao X 2006 Shape memory alloys, Part II: Modeling of polycrystals Mech. Mater. 38 430-62
2. Li Z and Sastry S 1989 Dextrous Robot Hands (New York: Springer) pp154-86 Chapter: Issues in Dextrous Robot Hands
3. Pons J L, Ceres R and Pfeiffer F 1999 Multifingered dextrous robotics hand design and control: a review Robotica 17 661-74
4. Del Cura V O, Cunha F L, Aguiar M L and Cliquet A Jr 2003 Study of the different types of actuators and mechanisms for upper limb prostheses Artificial Organs 27 507-16
5. Pfeiffer C, DeLaurentis K and Mavroidis C 1999 Shape memory alloy actuated robot prostheses: initial experiments IEEE Int. Conf. on Robotics and Automation vol 3 pp2385-91
6. Pezzin L E, Dillingham T R, MacKenzie E J, Ephraim P and Rossbach P 2004 Use and satisfaction with prosthetic limb devices and related services Arch. Phys. Med. Rehab. 85 723-9
7. Bundhoo V and Park E J 2005 Design of an artificial muscle actuated finger towards biomimetic prosthetic hands 12th Int. Conf. on Adv. Robotics pp368-75
8. Dormandy J, Heeck L and Vig S 1999 Major amputations: clinical patterns and predictors Semin. Vascular Surgery 12 154-61
9. Bar-Cohen Y, Xue T, Shahinpoor M, Simpson J and Smith J 1998 Flexible, low-mass robotic arm actuated by electroactive polymers and operated equivalently to human arm and hand Proc. ASCE Specialty Conf. Robotics for Challenging Environments pp15-21
10. Chou C P 1996 Measurement and modeling of McKibben pneumatic artificial muscles IEEE Trans. Robot. Autom. 12 90-103
11. El Feninat F, Laroche G, Fiset M and Mantovani D 2002 Shape memory materials for biomedical applications Adv. Eng. Mater. 4 91-104
12. Makaran J B, Dittmer D K, Buchal R O and MacArthur D B 1993 The smart wrist-hand orthosis (WHO) for quadriplegic patients J. Prosthet. Orthot. 5 73-6
13. De Laurentis K J and Mavroidis C 2002 Mechanical design of a shape memory alloy actuated prosthetic hand Technol. Health Care 10 91-106
14. Gorbet R B and Russell R A 1995 Novel differential shape memory alloy actuator for position control Robotica 13 423-30
15. Barrett R and Gross R S 1996 Super-active shape-memory alloy composites Smart Mater. Struct. 5 255-60
16. Icardi U 2001 Large bending actuator made with SMA contractile wires: theory, numerical simulation and experiments Composites B 32 259-67
17. Iberall T and MacKenzie C L 1989 Opposition space and human prehension Dextrous Robot Hands (New York: Springer) pp32-54
18. MacKenzie C L 1994 The Grasping Hand (New York: North-Holland)
19. MacKay Murray I 1969 Human Anatomy Made Simple: A Comprehensive Course for Self-Study and Review (Garden City, NY: Doubleday Publishing)
20. Biggs J and Horch K 1999 A three-dimensional kinematic model of the human long finger and the muscles that actuate it Med. Eng. Phys. 21 625-39
21. Brand P W 1999 Clinical Mechanics of the Hand (St. Louis, MO: Mosby)
22. Goodfellow S and Jennett S 2001 Hands The Oxford Companion to the Body (New York: Oxford University Press)
23. Jones L 1997 Dextrous hands: human, prosthetic, and robotic Presence: Teleoperators Virtual Environ. 6 29-56
24. Bar-Cohen Y and Breazeal C L 2003 Biologically Inspired Intelligent Robots (SPIE Press Monograph vol. PM122) (Bellingham, WA: SPIE Press)
25. Nagashima T, Seki H and Takano M 1997 Analysis and simulation of grasping/manipulation by multi-fingersurface Mech. Mach. Theory 32 175-91
26. Otsuka K and Ren X 1999 Recent developments in the research of shape memory alloys Intermetallics 7 511-28
27. Otsuka K and Ren X 2005 Physical metallurgy of Ti-Ni-based shape memory alloys Prog. Mater. Sci. 50 511-678
28. Van Humbeeck J, Leuven K U and Stalmans R 2002 Shape Memory Alloys, Types and Functionalities (Encyclopedia of Smart Materials vol 2) (New York: Wiley) pp951-64
29. Price A, Edgerton A, Cocaud C, Naguib H and Jnifene A 2007 A study on the thermomechanical properties of shape memory alloys-based actuators used in artificial muscles J. Intell. Mater. Syst. Struct. 18 11-8
30. Van Humbeeck J 2001 Shape memory alloys: a material and a technology Adv. Eng. Mater. 3 837-50
31. Bar-Cohen Y 2001 Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges (SPIE Press Monograph vol. PM98) (Bellingham, WA: SPIE Press)
32. Yamamoto Y 1985 Development of robot arm, an application of shape memory alloys to robotics Furukawa Denko Jiho/ Furukawa Electric Rev. (75) 109-13
33. Prahlad H and Chopra I 2001 Comparative evaluation of shape memory alloy constitutive models with experimental data J. Intell. Mater. Syst. Struct. 12 383-95
34. Bernardini D and Pence T J 2002 Memory Materials, Modeling (Encyclopedia of Smart Materials vol 2) (New York: Wiley) pp964-80
35. Price A, Jnifene A and Naguib H E 2006 Biologically inspired anthropomorphic arm and dextrous robot hand actuated by smart-material-based artificial muscles Proc. SPIE 6173 61730X
36. Ma N and Song G 2003 Control of shape memory alloy actuator using pulse width modulation Smart Mater. Struct. 12 712-9
37. Ma N 2002 Control of shape memory alloy actuator using pulse width (pw) modulation Proc. SPIE 4693 348
38. Denavit J and Hartenberg R S 1955 A kinematic notation for lower-pair mechanisms based on matrices ASME J. Appl. Mech. 22 215-21
39. Schilling R J 1990 Fundamentals of Robotics: Analysis and Control (Englewood Cliffs, NJ: Prentice-Hall)