The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.
[1] K. J. Cho, J. Rosmarin & H. Asada, "SBC Hand: A Lightweight Robotic
Hand with an SMA Actuator Array Implementing C-segmentation,"
IEEE International Conference on Robotics and Automation, 2007,
pp.921-926.
[2] V. Bundhoo, E. Haslam, B. Birch & E. J. Park,"A Shape Memory
Alloy-Based Tendon-Driven Actuation System for Biomimetic Artificial
Fingers," PART I: Design And Evaluation, Robotica International
Journal, 2008, pp. 1-16.
[3] L. Seokwon, N. Samyeul, L. YongKwun, & P. Jong Hyeon,
"Development of Bio-mimetic Robot Hand Using Parallel
Mechanisms," Proceedings of the 2009 IEEE International Conference
on Robotics and Biomimetics, December 19-23, Guilin, China, 2009.
[4] N. Wettels, A. R. Parnandi, L. Ji-Hyun Moon L, G.E., & G. S.
Sukhatme, "Grip Control Using Biomimetic Tactile Sensing Systems",
IEEE/ASME Transactions on Mechatronics, vol. 14, no.6, pp. 718 -
723, ISSN: 1083-4435, November 2009.
[5] Randall B. Hellman, Veronica J. Santos, "Design of a Back-driveable
Actuation System for Modular Control of Tendon-driven Robot Hands,"
The Fourth IEEE RAS/EMBS International Conference on Biomedical
Robotics and Biomechatronics, June 2012, pp.1293-1298.
[6] Daisuke Sawada & Ryuta Ozawa, "Joint Control of Tendon-Driven
Mechanisms with Branching Tendons," IEEE International Conference
on Robotics and Automation, May 2012, pp.1501-1507.
[7] A. Jaffar, M. S. Bahari, C. Y. Low & R. Jaafar, "Design and Control of
a Multifingered Anthropomorphic Robotic Hand," International Journal
of Mechanical & Mechatronics Engineering IJMME-IJENS, vol.11, pp.
26-33, 2010.
[8] H. Herr, G. P. Whitely & D. Childress, "Cyborg Technology -
Biomimetic Orthotic and Prosthetic Technology," Book in Biologically
Inspired Intelligent Robots, 2003, ch.5, pp.174-179.
[9] F. Ficuciello, G. Palli, C. Melchiorri & B. Siciliano, "Experimental
Evaluation of Postural Synergies during Reach to Grasp with the UB
Hand IV," IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS) 2011, pp.1775-1780.
[10] L. Zollo, S. Roccella, E. Guglielmelli, M. C. Carrozza & P. Dario,
"Biomechatronic Design and Control of an Anthropomorphic Artificial
Hand for Prosthetic and Robotic Applications," IEEE/ASME
Transactions on Mechatronics, 2007, vol.12, pp.418-429.
[11] C. M. Light, P. H. Chappell, "Development of a Lightweight and
Adaptable Multiple-axis Hand Prosthesis," Medical Engineering &
Physics, 2000, vol.22, pp.679-684.
[12] Beng Guey Lau, "An Intelligent Prosthetic Hand using Hybrid Actuation
and Myoelectric Control," Degree of Doctor of Philosophy, The
University of Leeds School of Mechanical Engineering, October 2009.
[13] Y. H. The, "Fast, Accurate Force and Position Control of Shape Memory
Alloy Actuators," Degree of Doctor of Philosophy, The Australian
National University, June 2008.
[14] Dynalloy, Inc., "Technical Characteristics of Flexional Actuator Wire,"
2011.
[15] V. Bundhoo, & E. J. Park, "Design of an Artificial Muscle Actuated
Finger towards Biomimetic Prosthetic Hands," Proceedings of the 12th
International Conference on Advanced Robotics ICAR 2005, pp.369-
375.
[16] T. Maeno & T. Hino, "Miniature Five-Fingered Robot Hand Driven by
Shape Memory Alloy Actuator," Proceedings of the 12th IASTED
International Conference on Robotics and Applications, 2006, pp.174-
179.
[17] J. Kathryn, D. Laurentis & C. Mavroidis, "Mechanical Design of a
Shape Memory Alloy Actuated Prosthetic Hand," Technology and
Health Care 10, 2002, pp.91-106.
[18] K. Andrianesis, A. Tzes, Design of an Anthropomorphic Prosthetic
Hand Driven by Shape Memory Alloy Actuators, 2nd IEEE RAS &
EMBS International Conference on Biomedical Robotics and
Biomechatronics, 2008. BioRob 2008, pp.517-522.
[19] C. Y. Low, M. A. A. Kasim, R. Jaafar & A. Jaffar, "Towards
Biomimetic Actuation in Prostheses using Shape Memory Alloy," 3rd
International Conference on Mechanical and Manufacturing Engineering
2012.
[20] Dahiya, R. S., Giorgio Metta, M. V., & Sandini, G., "Tactile Sensing-
From Humans to Humanoids", IEEE Transactions on Robotics, Vol. 26,
No. 1, 2010
[21] M. Reichel. Transformation of Shadow Dextrous Hand and Shadow
Finger Test Unit from Prototype to Product for Intelligent Manipulation
and Grasping, The Shadow Robot Company Ltd. 123-124.
[22] R. Walker (2004). Developments in Dextrous Hands for Advanced
Robotic Applications. Presented at the 10th Int. Symp. Robot. App.
[23] http://www.peratech.com/qtc-material.html.
[1] K. J. Cho, J. Rosmarin & H. Asada, "SBC Hand: A Lightweight Robotic
Hand with an SMA Actuator Array Implementing C-segmentation,"
IEEE International Conference on Robotics and Automation, 2007,
pp.921-926.
[2] V. Bundhoo, E. Haslam, B. Birch & E. J. Park,"A Shape Memory
Alloy-Based Tendon-Driven Actuation System for Biomimetic Artificial
Fingers," PART I: Design And Evaluation, Robotica International
Journal, 2008, pp. 1-16.
[3] L. Seokwon, N. Samyeul, L. YongKwun, & P. Jong Hyeon,
"Development of Bio-mimetic Robot Hand Using Parallel
Mechanisms," Proceedings of the 2009 IEEE International Conference
on Robotics and Biomimetics, December 19-23, Guilin, China, 2009.
[4] N. Wettels, A. R. Parnandi, L. Ji-Hyun Moon L, G.E., & G. S.
Sukhatme, "Grip Control Using Biomimetic Tactile Sensing Systems",
IEEE/ASME Transactions on Mechatronics, vol. 14, no.6, pp. 718 -
723, ISSN: 1083-4435, November 2009.
[5] Randall B. Hellman, Veronica J. Santos, "Design of a Back-driveable
Actuation System for Modular Control of Tendon-driven Robot Hands,"
The Fourth IEEE RAS/EMBS International Conference on Biomedical
Robotics and Biomechatronics, June 2012, pp.1293-1298.
[6] Daisuke Sawada & Ryuta Ozawa, "Joint Control of Tendon-Driven
Mechanisms with Branching Tendons," IEEE International Conference
on Robotics and Automation, May 2012, pp.1501-1507.
[7] A. Jaffar, M. S. Bahari, C. Y. Low & R. Jaafar, "Design and Control of
a Multifingered Anthropomorphic Robotic Hand," International Journal
of Mechanical & Mechatronics Engineering IJMME-IJENS, vol.11, pp.
26-33, 2010.
[8] H. Herr, G. P. Whitely & D. Childress, "Cyborg Technology -
Biomimetic Orthotic and Prosthetic Technology," Book in Biologically
Inspired Intelligent Robots, 2003, ch.5, pp.174-179.
[9] F. Ficuciello, G. Palli, C. Melchiorri & B. Siciliano, "Experimental
Evaluation of Postural Synergies during Reach to Grasp with the UB
Hand IV," IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS) 2011, pp.1775-1780.
[10] L. Zollo, S. Roccella, E. Guglielmelli, M. C. Carrozza & P. Dario,
"Biomechatronic Design and Control of an Anthropomorphic Artificial
Hand for Prosthetic and Robotic Applications," IEEE/ASME
Transactions on Mechatronics, 2007, vol.12, pp.418-429.
[11] C. M. Light, P. H. Chappell, "Development of a Lightweight and
Adaptable Multiple-axis Hand Prosthesis," Medical Engineering &
Physics, 2000, vol.22, pp.679-684.
[12] Beng Guey Lau, "An Intelligent Prosthetic Hand using Hybrid Actuation
and Myoelectric Control," Degree of Doctor of Philosophy, The
University of Leeds School of Mechanical Engineering, October 2009.
[13] Y. H. The, "Fast, Accurate Force and Position Control of Shape Memory
Alloy Actuators," Degree of Doctor of Philosophy, The Australian
National University, June 2008.
[14] Dynalloy, Inc., "Technical Characteristics of Flexional Actuator Wire,"
2011.
[15] V. Bundhoo, & E. J. Park, "Design of an Artificial Muscle Actuated
Finger towards Biomimetic Prosthetic Hands," Proceedings of the 12th
International Conference on Advanced Robotics ICAR 2005, pp.369-
375.
[16] T. Maeno & T. Hino, "Miniature Five-Fingered Robot Hand Driven by
Shape Memory Alloy Actuator," Proceedings of the 12th IASTED
International Conference on Robotics and Applications, 2006, pp.174-
179.
[17] J. Kathryn, D. Laurentis & C. Mavroidis, "Mechanical Design of a
Shape Memory Alloy Actuated Prosthetic Hand," Technology and
Health Care 10, 2002, pp.91-106.
[18] K. Andrianesis, A. Tzes, Design of an Anthropomorphic Prosthetic
Hand Driven by Shape Memory Alloy Actuators, 2nd IEEE RAS &
EMBS International Conference on Biomedical Robotics and
Biomechatronics, 2008. BioRob 2008, pp.517-522.
[19] C. Y. Low, M. A. A. Kasim, R. Jaafar & A. Jaffar, "Towards
Biomimetic Actuation in Prostheses using Shape Memory Alloy," 3rd
International Conference on Mechanical and Manufacturing Engineering
2012.
[20] Dahiya, R. S., Giorgio Metta, M. V., & Sandini, G., "Tactile Sensing-
From Humans to Humanoids", IEEE Transactions on Robotics, Vol. 26,
No. 1, 2010
[21] M. Reichel. Transformation of Shadow Dextrous Hand and Shadow
Finger Test Unit from Prototype to Product for Intelligent Manipulation
and Grasping, The Shadow Robot Company Ltd. 123-124.
[22] R. Walker (2004). Developments in Dextrous Hands for Advanced
Robotic Applications. Presented at the 10th Int. Symp. Robot. App.
[23] http://www.peratech.com/qtc-material.html.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52674", author = "M. Amlie A. Kasim and Ahsana Aqilah and Ahmed Jaffar and Cheng Yee Low and Roseleena Jaafar and M. Saiful Bahari and Armansyah", title = "Development of UiTM Robotic Prosthetic Hand", abstract = "The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.
", keywords = "Prosthetic hand, Biomimetic actuation, Shape
Memory Alloy, Tactile sensing.", volume = "7", number = "1", pages = "10-6", }
