TY - GEN
T1 - Design and development of bio-mimetic soft robotic hand with shape memory alloy
AU - Kim, Hyung Il
AU - Han, Min Woo
AU - Wang, Wei
AU - Song, Sung Hyuk
AU - Rodrigue, Hugo
AU - Ahn, Sung Hoon
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Conventionally, many robotic hands have been studied to imitate dexterous movement of hand using rigid elements such as joint, links and mechanical actuators. Solid-robot needs complex system under well-controlled condition to show the performance. As an alternative way, soft robotics has been developed to achieve biological motion with compact structure. High adaptability and smooth actuation can be realized with compliant materials. In this research, we developed a prototype soft robotic hand using shape memory alloy (SMA) and woven type smart soft composite (SSC). First, the main components and actuation of hand are defined from the anatomy to build soft robotic hand. Then, woven type SSC based actuator is fabricated and tested as an artificial muscle. Third, a prototype of soft robotic hand is designed and built as followed by anatomical analysis. Finally, the actuation and grasping performance of the soft robot-hand are tested.
AB - Conventionally, many robotic hands have been studied to imitate dexterous movement of hand using rigid elements such as joint, links and mechanical actuators. Solid-robot needs complex system under well-controlled condition to show the performance. As an alternative way, soft robotics has been developed to achieve biological motion with compact structure. High adaptability and smooth actuation can be realized with compliant materials. In this research, we developed a prototype soft robotic hand using shape memory alloy (SMA) and woven type smart soft composite (SSC). First, the main components and actuation of hand are defined from the anatomy to build soft robotic hand. Then, woven type SSC based actuator is fabricated and tested as an artificial muscle. Third, a prototype of soft robotic hand is designed and built as followed by anatomical analysis. Finally, the actuation and grasping performance of the soft robot-hand are tested.
UR - http://www.scopus.com/inward/record.url?scp=84964509997&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7419122
DO - 10.1109/ROBIO.2015.7419122
M3 - Conference contribution
AN - SCOPUS:84964509997
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 2330
EP - 2334
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -