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Proceedings Paper

Biologically inspired anthropomorphic arm and dextrous robot hand actuated by smart-material based artificial muscles
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Paper Abstract

Shape memory alloys (SMA) are a class of smart material having the unique ability to return to a predefined shape when heated. SMA based actuators have the potential to be very compact and low weight. As a result, much research has been devoted to the design of SMA based actuators; however, commercialization has been largely impeded by the small strain capacity inherent to SMA. To address this deficiency, this paper conveys the design of a large-strain SMA actuator (in excess of 30%) whose feasibility is investigated by integrating the actuators as artificial muscles in a two link anthropomorphic arm. The ensuing experimental results indicate that the actuators show great potential for a variety of emerging applications. Finally the design of an SMA based dextrous robotic hand evaluation facility is proposed, and provides a case study illustrating how smart structures provide a superior alternative to conventionally voluminous and heavy prosthetic actuators.

Paper Details

Date Published: 5 April 2006
PDF: 12 pages
Proc. SPIE 6173, Smart Structures and Materials 2006: Smart Structures and Integrated Systems, 61730X (5 April 2006); doi: 10.1117/12.660471
Show Author Affiliations
Aaron Price, Univ. of Ottawa (Canada)
Amor Jnifene, Royal Military College of Canada (Canada)
Hani E. Naguib, Univ. of Toronto (Canada)

Published in SPIE Proceedings Vol. 6173:
Smart Structures and Materials 2006: Smart Structures and Integrated Systems
Yuji Matsuzaki, Editor(s)

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