Design and development of bio-mimetic soft robotic hand with shape memory alloy

Hyung Il Kim, Min Woo Han, Wei Wang, Sung Hyuk Song, Hugo Rodrigue, Sung Hoon Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2330-2334
Number of pages5
ISBN (Electronic)9781467396745
DOIs
StatePublished - 2015
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

ConferenceIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/TerritoryChina
CityZhuhai
Period6/12/159/12/15

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