Design and development of bio-mimetic soft robotic hand with shape memory alloy

摘要

Conventionally, many robotic hands have been studied to imitate dexterous movement of hand using rigid elements such as joint, links and mechanical actuators. Solid-robot needs complex system under well-controlled condition to show the performance. As an alternative way, soft robotics has been developed to achieve biological motion with compact structure. High adaptability and smooth actuation can be realized with compliant materials. In this research, we developed a prototype soft robotic hand using shape memory alloy (SMA) and woven type smart soft composite (SSC). First, the main components and actuation of hand are defined from the anatomy to build soft robotic hand. Then, woven type SSC based actuator is fabricated and tested as an artificial muscle. Third, a prototype of soft robotic hand is designed and built as followed by anatomical analysis. Finally, the actuation and grasping performance of the soft robot-hand are tested.