Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30127
Mechanical Design and Theoretical Analysis of a Four Fingered Prosthetic Hand Incorporating Embedded SMA Bundle Actuators

Authors: Kevin T. O'Toole, Mark M. McGrath

Abstract:

The psychological and physical trauma associated with the loss of a human limb can severely impact on the quality of life of an amputee rendering even the most basic of tasks very difficult. A prosthetic device can be of great benefit to the amputee in the performance of everyday human tasks. This paper outlines a proposed mechanical design of a 12 degree-of-freedom SMA actuated artificial hand. It is proposed that the SMA wires be embedded intrinsically within the hand structure which will allow for significant flexibility for use either as a prosthetic hand solution, or as part of a complete lower arm prosthetic solution. A modular approach is taken in the design facilitating ease of manufacture and assembly, and more importantly, also allows the end user to easily replace SMA wires in the event of failure. A biomimetric approach has been taken during the design process meaning that the artificial hand should replicate that of a human hand as far as is possible with due regard to functional requirements. The proposed design has been exposed to appropriate loading through the use of finite element analysis (FEA) to ensure that it is structurally sound. Theoretical analysis of the mechanical framework was also carried out to establish the limits of the angular displacement and velocity of the finger tip as well finger tip force generation. A combination of various polymers and Titanium, which are suitably lightweight, are proposed for the manufacture of the design.

Keywords: Hand prosthesis, mechanical design, shape memory alloys, wire bundle actuation.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1072615

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2231

References:


[1] Chao, E.Y.S., An, K., Cooney, W.P. and Linscheid, R.: "Biomechanics of the Hand" in World Scientific Publishing Co. Pte. Ltd., 1989, pp. 5-75.
[2] Lin, L., and Huang, H.: "NTU Hand: A New Design of Dexterous Hands" in Journal of Mechanical Design, Transactions of the ASME, 1998, pp. 282-292.
[3] Butterfass, J.,Hirzinger, G., Knoch, S. and Liu, H.: "DLR-s Multisensory Articulated Hand, Part I: Hard and Software Architecture" in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, pp. 2081-2086.
[4] Lovchik C.S. and Diftler M.A.: "The Robonaut Hand: A Dexterous Robot Hand for Space" in Proceedings of the 1999 IEEE Int. Conference on Robotics and Automation, Detroit, MI, USA 1999, pp. 907-912.
[5] DeLaurentis, K.J. and Mavroidis, C.: "Mechanical Design of a Shape Memory Alloy actuated Prosthetic Hand" in Technology and Health Care, Vol. 10, 2002, pp. 91-106.
[6] Bundhoo, V. and Park, E.J.: "Design of an Artificial Muscle Actuated Finger towards Biomimetric Prosthetic Hands" in Proceedings of the 12th International Conference on Advanced Robotics (ICAR '05), Seattle, WA, USA, July 2005, pp. 368-375.
[7] Mosley, M. J. and Mavroidis C.: "Design and Control of a Shape Memory Alloy Wire Bundle Actuator" in Proceedings of DETC-00: 26th Biennial Mechanisms and Robotics Conference, Baltimore, MD, USA, Sept. 2000.
[8] Schetky L.: "Shape Memory effect alloys for robotic devices" in Robotics Age, Vol. 6, No. 7, July 1984, pp. 13-17.
[9] O-Toole, K., McGrath, M. and Hatchett, D.: "Transient Characterisation and Analysis of Shape Memory Alloy Wire Bundles for the Actuation of Finger Joints in Prosthesis Design" in Proceedings of the 3rd International Conference Mechatronic Systems and Materials (MSM 2007), Kaunas, Lithuania, Sept. 2007 (submitted for publication).
[10] Massa, B., Roccella, M., Carrozza, M.C. and Dario, P.: "Design and Development of an Underactuated Prosthetic Hand" in Proceedings of the IEEE International Conference on Robotics & Automation, Washington DC, USA, May 2002.
[11] Huang, H., Jiang, L., Zhao, D.W., Zhao, J.D., Cai, H.G., Liu, H., Meusel, P., Willberg, B., Hirzinger, G.: "The Development on a New Biomechatronic Prosthetic Hand Based on Underactuated Mechanism" in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, Oct. 2006.
[12] Lai, J.C.K., Schoen, M.P., Perez Garcia, A., Naidu, D.S. and Leung, S.W.: "Prosthetic devices: challenges and implications of robotic implants and biological interfaces" in J. Engineering in Medicine, Proc. IMechE Vol. 221, Part H, 2007.
[13] Caldwell, D.G. and Taylor, P.M.: "Artificial Muscles as Robotic Actuators" in Proceedings of the IFAC Robot Control Conference (Syroco 98), Karlsruhe, Germany, 1998, pp. 401-406.
[14] Kornbluh, R., Pelrine, R., Eckerle, J. and Joseph, J.: "Electrostrictive Polymer Artificial Muscle Actuators" in Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.
[15] Furuya, Y. and Shimada, H.: "Shape Memory actuators for robotic applications" in Engineering Aspect of Shape Memory Alloys, Butterworth-Heinemann, London, 1990, pp. 338-355.
[16] Yoshiyuki N. et al. "Hitachi-s Robot Hand" in Robotics Age 6, 1984, pp.18-20.
[17] Cho, K.J., Rosmarin, J. and Asada, H.: "Design of vast DOF artificial muscle actuators with a cellular array structure and its application to a five-fingered robotic hand" in Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 2006, pp. 706-728.
[18] Smaby, N., Johanson, M.E., Baker, B., Kenney, D.E., Murray, W.M., Hentz, V.R.: "Identification of key pinch forces required to complete functional tasks" in J. of Rehabilitation Res. Dev., Vol. 41, Mar. 2004, pp. 215-224.