Nylon-Muscle-Actuated Robotic Finger

Lianjun Wu; Monica Jung De Andrade; Richard S. Rome; Carter Haines; Marcio D. Lima; Ray H. Baughman; Yonas Tadesse

doi:10.1117/12.2084902

Nylon-Muscle-Actuated Robotic Finger

Lianjun Wu, Monica Jung De Andrade, Richard S. Rome, Carter Haines, Marcio D. Lima, Ray H. Baughman, Yonas Tadesse

Manufacturing Engineering

University of Texas at Dallas

Research output: Contribution to book or proceeding › Chapter

78 Scopus citations

Abstract

This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.

Original language	American English
Title of host publication	Proceedings of the Society of Photo-Optical Instrumentation Engineers
DOIs	https://doi.org/10.1117/12.2084902
State	Published - Mar 8 2015

Keywords

Nylon-muscle-actuated
Robotic finger

DC Disciplines

Mechanical Engineering
Engineering

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abstract = " This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.",

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AU - De Andrade, Monica Jung

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AU - Haines, Carter

AU - Lima, Marcio D.

AU - Baughman, Ray H.

AU - Tadesse, Yonas

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AB - This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.

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M3 - Chapter

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ER -

Nylon-Muscle-Actuated Robotic Finger

Abstract

Keywords

DC Disciplines

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