Abstract
This paper presents a robotic hand using wires with shape memory (NiTi) as non-conventional actuators. The mechanical structure of the robot hand was first designed by means of a CAD computer program and afterwards 3D printed using ABS polymer. The robotic hand was designed according to the physiological characteristics of the human hand, with particular attention to the angles formed by the phalanges of the fingers. A mechanical system accommodates the thin NiTi wires compactly, thus forming an artificial muscle. A fuzzy logic based control system allows an accurate positioning of each phalanx. The contribution of the present work to science lies in the practical implementation of known techniques and materials.
Highlights
T HE human hand is a major challenge in the field of rehabilitation robotics due to its large number of phalangeal joints, providing great flexibility for performing numerous tasks
The human hand is divided into fingers, which are subdivided into phalanges
A control technique based on fuzzy logic was applied to affect the angular positioning of each phalanx
Summary
T HE human hand is a major challenge in the field of rehabilitation robotics due to its large number of phalangeal joints, providing great flexibility for performing numerous tasks. Hands characteristic ability to change shape and adapt to different types of objects, is supported by 23 degrees of freedom (DOF), five for the thumb, four for each finger and two more for the palm. This large number of DOF’s is related to 27 bones, 17 joints and 19 muscles of the hand as well as to a series of tendons activated by muscles located in the forearm [1].
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