Miniature five-fingered robot hand driven by shape memory alloy actuators

Takashi Maeno, Toshiyuki Hino

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

Miniature five fingered robot hand is developed for dexterous manipulation of small tissues and parts in medical and industrial fields. The size of the robot hand is about one third of human hands. It has 4 DOF (degrees of freedom) per a finger that is almost the same as humans. The entire DOF of the hand is 20. The hand is driven by SMA (shape memory actuator) wire actuator with diameter of 0.05 mm. The maximum strain of the SMA wire is about 0.04. Time constant of the finger movement is about 0.2s. It means that the frequency response of the developed hand is almost in the same range as human fingers. The developed robot hand can be used in dexterous remote manipulations of small things.

Original languageEnglish
Title of host publicationProceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006
Pages174-179
Number of pages6
Publication statusPublished - 2006 Dec 1
Event12th IASTED International Conference on Robotics and Applications, RA 2006 - Honolulu, HI, United States
Duration: 2006 Aug 142006 Aug 16

Publication series

NameProceedings of the IASTED International Conference on Robotics and Applications
ISSN (Print)1027-264X

Other

Other12th IASTED International Conference on Robotics and Applications, RA 2006
CountryUnited States
CityHonolulu, HI
Period06/8/1406/8/16

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Keywords

  • Dexterous manipulation
  • Miniature robot hand
  • Shape memorizing alloy actuators

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Computer Science Applications

Cite this

Maeno, T., & Hino, T. (2006). Miniature five-fingered robot hand driven by shape memory alloy actuators. In Proceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006 (pp. 174-179). (Proceedings of the IASTED International Conference on Robotics and Applications).