Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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SMA-driven Biomimetic Finger Module for Lightweight Hand Prosthesis

경량 의수용 SMA 구동식 생체모방 손가락 모듈

  • 정성윤 (근로복지공단 재활공학연구소) ;
  • 문인혁 (동의대학교 메카트로닉스공학과)
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.02.01
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Abstract

This paper proposes a biomimetic finger module to be used in a lightweight hand prosthesis. The finger module consists of finger skeleton and an actuator module driven by SMA (Shape Memory Alloy). The prototype finger module can perform flexion and extension motions; finger flexion is driven by a contraction force of SMA, but it is extended by an elastic force of an extension spring inserted into the finger skeleton. The finger motions are controlled by feedback of electric resistance of SMA because the finger module has no sensors to measure length and angle. Total weight of a prototype finger module is 30g. In experiments the finger motions and finger grip force are tested and compared with simulation results when a constant contraction force of SMA is given. The experimental results show that the proposed SMA-driven finger module is feasible to the lightweight hand prosthesis.

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References

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