Mechanical Design and Theoretical Analysis of a Four Fingered Prosthetic Hand Incorporating Embedded SMA Bundle Actuators
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.
[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.
[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.
@article{"International Journal of Medical, Medicine and Health Sciences:58425", author = "Kevin T. O'Toole and Mark M. McGrath", title = "Mechanical Design and Theoretical Analysis of a Four Fingered Prosthetic Hand Incorporating Embedded SMA Bundle Actuators", 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.", volume = "1", number = "7", pages = "427-8", }
