Hostname: page-component-848d4c4894-2xdlg Total loading time: 0 Render date: 2024-06-14T17:04:32.807Z Has data issue: false hasContentIssue false

A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation

Published online by Cambridge University Press:  01 January 2009

Vishalini Bundhoo
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Edmund Haslam
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Benjamin Birch
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Edward J. Park*
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
*
*Corresponding author. E-mail: ejpark@me.uvica@ca

Summary

In this paper, a new biomimetic tendon-driven actuation system for prosthetic and wearable robotic hand applications is presented. It is based on the combination of compliant tendon cables and one-way shape memory alloy (SMA) wires that form a set of agonist–antagonist artificial muscle pairs for the required flexion/extension or abduction/adduction of the finger joints. The performance of the proposed actuation system is demonstrated using a 4 degree-of-freedom (three active and one passive) artificial finger testbed, also developed based on a biomimetic design approach. A microcontroller-based pulse-width-modulated proportional-derivation (PWM-PD) feedback controller and a minimum jerk trajectory feedforward controller are implemented and tested in an ad hoc fashion to evaluate the performance of the finger system in emulating natural joint motions. Part II describes the dynamic modeling of the above nonlinear system, and the model-based controller design.

Type
Article
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kwee, H. H., “Rehabilitation robotics—Softening the hardware,” IEEE Eng. Med. Biol. Mag. 14 (3), 330335 (1995).CrossRefGoogle Scholar
2.Bolmsjo, G., Neveryd, H. and Eftring, H., “Robotics in rehabilitation,” IEEE Trans. Rehabil. Eng. 3 (1), 7783 (1995).CrossRefGoogle Scholar
3.Tejima, N., “Rehabilitation robotics: A review,” Adv. Robot. 14 (7), 551564 (2000).CrossRefGoogle Scholar
4.Stefanov, D. and Bien, Z. Z., “Advances in human-friendly robotic technologies for movement assistance/movement restoration for people with disabilities,” In: Advances in Rehabilitation Robotics (Bien, Z. Z. and Stefanov, D., eds.) (Springer, Berlin, 2004) pp. 323.CrossRefGoogle Scholar
5.Popovic, D. and Sinkjar, T., Control of Movement for the Physically Disabled (Springer, London, 2000).CrossRefGoogle Scholar
6.Herr, H., Whiteley, G. and Childress, D., “Cyborg technology – Biomimetic orthotic and prosthetic technology,” In: Biologically Inspired Intelligent Robots (Bar-Cohen, Y. and Breazeal, C., eds.) (SPIE Press, Bellingham, WA, 2003).Google Scholar
7.Li, Z. and Sastry, S., Dexterous Robot Hands (Springer, New York, 1989).Google Scholar
8.Pons, J. L., Ceres, R. and Pfeiffer, F., “Multifingered dexterous robotic hand design and control: A review,” Robotica 17, 661674 (1999).CrossRefGoogle Scholar
9.Lin, L. and Huang, H., “NTU hand: A new design of dexterous hands,” Trans. ASME, J. Mech. Des. 120, 282292 (1998).CrossRefGoogle Scholar
10.Liu, H., Meusel, P., Butterfass, J. and Hirzinger, G., “DLR's multisensory articulated hand, part II: The parallel torque/position control system,” Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 2087–2093.Google Scholar
11.Lovchik, C. S. and Diftler, M. A., “The robotnaut hand: The dexterous robot hand for space,” Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI (1999) pp. 907–912.Google Scholar
12.Carrozza, M. C., Massa, B., Dario, P., Zecca, M., Micera, S. and Pastacalsi, P., “A two DOF finger for a biomechatronic artificial hand,” Technol. Health Care 10, 7789 (2002).CrossRefGoogle ScholarPubMed
13.Liang, C. and Rogers, C. A., “Design of shape memory alloy actuator,” Trans. ASME, J. Mech. Des. 114, 223230 (1992).CrossRefGoogle Scholar
14.Kyberd, P. J., Light, C., Chappell, P. H., Nightingale, J. M., Whatley, D. and Evans, M., “The design of anthropomorphic prosthetic hands: A study of the southampton hand,” Robotica 19, 593600 (2001).CrossRefGoogle Scholar
15.Chou, C. P., “Measurement and modeling of McKibbon pneumatic artificial muscles,” IEEE Trans. Robot. Autom. 12, 90103 (1996).CrossRefGoogle Scholar
16.El Feninat, F., Laroche, G., Fiset, M. and Mantovani, D., “Shape memory materials for biomedical applications,” Adv. Eng. Mater. 4, 91104 (2002).3.0.CO;2-B>CrossRefGoogle Scholar
17.Yoshiyuki, N., “Hitachi's robot hand,” Robot. Age 6 (7), 1820 (1984).Google Scholar
18.De Laurentis, K. J. and Mavroidis, C., “Mechanical design of a shape memory alloy actuated prosthetic hand,” Technol. Health Care 10, 91106 (2002).CrossRefGoogle ScholarPubMed
19.Price, A. D., Jnifene, A. and Naguib, H. E., “Design and control of a shape memory alloy based dexterous robot hand,” Smart Mater. Struct. 16, 14011414 (2007).CrossRefGoogle Scholar
20.Tyldesley, B. and Grieve, J. I., Muscles, Nerves and Movement: Kinesiology in Daily Living (Alden Press, Oxford, 1989).Google Scholar
21.Wybrun, G. M., Pickford, R. W., Hirst, R. J., Human Senses and Perception (Oliver and Boyd, London, 1969).Google Scholar
22.Buchholz, B., Armstrong, A. and Goldstein, S. A., “Anthropometric data for describing the kinematics of the human hand,” Ergonomics 35 (3), 261273 (1992).CrossRefGoogle ScholarPubMed
23.Levangie, P. K. and Norkin, C. C., Joint Structure and Function: A Comprehensive Analysis, 3rd ed. (F.A. David Company, Philadelphia, PA, 1992).Google Scholar
24.Hogan, N., “An organizing principle for a class of voluntary movements,” J. Neurosci. 4, 27452754 (1984).CrossRefGoogle ScholarPubMed
25.Simone, L. K. and Kamper, D. G., “Design considerations for a wearable monitor to measure finger posture,” J. NeuroEng. Rehabil. 2 (5), 110 (2005).CrossRefGoogle ScholarPubMed
26.Beebe, D. J., Denton, D. D., Radwin, R. G. and Webster, J. G., “A silicon-based tactile sensor for finger-mounted applications,” IEEE Trans. Biomed. Eng. 45 (2), 151159 (1998).CrossRefGoogle ScholarPubMed
27.Engel, J., Chen, J., Fan, Z. and Liu, C., “Polymer micromachined multimodal tactile sensors,” Sensors Actuators A 117, 5061 (2005).CrossRefGoogle Scholar
28.Carpaneto, J., Micera, S., Zaccone, F., Vecchi, F. and Dario, P., “A sensorized thumb for force closed-loop control of hand neuroprostheses,” IEEE Trans. Neural Syst. Rehabil. Eng. 11 (4), 346353 (2003).CrossRefGoogle ScholarPubMed
29.Wilkinson, D., Vande Weghe, M. and Matsuoka, Y., “An extensor mechanism for an anatomical robotic hand,” Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan (2003) pp. 238–243.Google Scholar
30.Bundhoo, V. and Park, E. J., “Design of an artificial muscle actuated finger towards biomimetic prosthetic hands,” Proceedings of the IEEE International Conference on Advanced Robotics, Seattle, WA (2005) pp. 368–375.Google Scholar
31.Elahania, M. and Ashrafoun, H., “Nonlinear control of a shape memory alloy actuated manipulator,” Trans. ASME. J. Vib. Acoust. 124, 566575 (2002).CrossRefGoogle Scholar
32.Arocena, J. I. and Daniel, R. W., “Design and control of a novel 3-DOF flexible robot, part 1: Design and evaluation,” Int. J. Robot. Res. 17, 11671181 (1998).CrossRefGoogle Scholar
33.Ma, N. and Song, G., “Control of shape memory actuator using pulse width modulation,” Smart Mater. Struct. 12, 712719 (2003).CrossRefGoogle Scholar