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

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<jats:title>SUMMARY</jats:title><jats:p>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<jats:italic>ad hoc</jats:italic>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.</jats:p>

Journal

  • Robotica

    Robotica 27 (1), 131-146, 2009-01

    Cambridge University Press (CUP)

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