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Proceedings Paper

Nylon-muscle-actuated robotic finger
Author(s): Lianjun Wu; Monica Jung de Andrade; Richard S. Rome; Carter Haines; Marcio D. Lima; Ray H. Baughman; Yonas Tadesse
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Paper 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.

Paper Details

Date Published: 2 April 2015
PDF: 12 pages
Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94310I (2 April 2015); doi: 10.1117/12.2084902
Show Author Affiliations
Lianjun Wu, The Univ. of Texas at Dallas (United States)
Monica Jung de Andrade, The Univ. of Texas at Dallas (United States)
Richard S. Rome, The Univ. of Texas at Dallas (United States)
Carter Haines, The Univ. of Texas at Dallas (United States)
Marcio D. Lima, The Univ. of Texas at Dallas (United States)
Ray H. Baughman, The Univ. of Texas at Dallas (United States)
Yonas Tadesse, The Univ. of Texas at Dallas (United States)


Published in SPIE Proceedings Vol. 9431:
Active and Passive Smart Structures and Integrated Systems 2015
Wei-Hsin Liao, Editor(s)

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