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A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation

Published online by Cambridge University Press:  01 January 2009

Vishalini Bundhoo ,
Edmund Haslam ,
Benjamin Birch  and
Edward J. Park
Vishalini Bundhoo
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Edmund Haslam
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Benjamin Birch
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
Edward J. Park*
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, British Columbia, Canada, V8W 3P6
*
*Corresponding author. E-mail: [email protected]@ca
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Summary

In this paper, a new biomimetic tendon-driven actuation system for prosthetic and wearable robotic hand applications is presented. It is based on the combination of compliant tendon cables and one-way shape memory alloy (SMA) wires that form a set of agonist–antagonist artificial muscle pairs for the required flexion/extension or abduction/adduction of the finger joints. The performance of the proposed actuation system is demonstrated using a 4 degree-of-freedom (three active and one passive) artificial finger testbed, also developed based on a biomimetic design approach. A microcontroller-based pulse-width-modulated proportional-derivation (PWM-PD) feedback controller and a minimum jerk trajectory feedforward controller are implemented and tested in an ad hoc fashion to evaluate the performance of the finger system in emulating natural joint motions. Part II describes the dynamic modeling of the above nonlinear system, and the model-based controller design.

Keywords

Artificial fingerBiomimetic designTendon-driven mechanismShape memory alloy
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 131 - 146
Copyright
Copyright © Cambridge University Press 2008

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