Compact and Low-Cost Humanoid Hand Powered by Nylon Artificial Muscles

Lianjun Wu, Monica Jung De Andrade, Lokesh Kumar Saharan, Richard Steven Rome, Ray H. Baughman, Yonas Tadesse

Research output: Contribution to journalArticlepeer-review

136 Scopus citations

Abstract

This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868–72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.
Original languageAmerican English
JournalBioinspiration and Biomimetics
Volume12
DOIs
StatePublished - Feb 3 2017

Keywords

  • Compact
  • Humanoid hand powered
  • Low-cost
  • Nylon artificial muscles

DC Disciplines

  • Mechanical Engineering
  • Engineering

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