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

摘要

Modern externally powered upper-body prostheses are conventionally actuated by electric servomotors. Although these motors achieve reasonable kinematic performance, they are voluminous and heavy. Deterring factors such as these lead to a substantial proportion of upper extremity amputees avoiding the use of their prostheses. Therefore, it is apparent that there exists a need for functional prosthetic devices that are compact and lightweight. The realization of such a device requires an alternative actuation technology, and biological inspiration suggests that tendon based systems are advantageous. Shape memory alloys are a type of smart material that exhibit an actuation mechanism resembling the biological equivalent. As such, shape memory alloy enabled devices promise to be of major importance in the future of dexterous robotics, and of prosthetics in particular. This paper investigates the design, instrumentation, and control issues surrounding the practical application of shape memory alloys as artificial muscles in a three-fingered robot hand.