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Proceedings Paper

Robotic hand with locking mechanism using TCP muscles for applications in prosthetic hand and humanoids
Author(s): Lokesh Saharan; Yonas Tadesse
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Paper Abstract

This paper presents a biomimetic, lightweight, 3D printed and customizable robotic hand with locking mechanism consisting of Twisted and Coiled Polymer (TCP) muscles based on nylon precursor fibers as artificial muscles. Previously, we have presented a small-sized biomimetic hand using nylon based artificial muscles and fishing line muscles as actuators. The current study focuses on an adult-sized prosthetic hand with improved design and a position/force locking system. Energy efficiency is always a matter of concern to make compact, lightweight, durable and cost effective devices. In natural human hand, if we keep holding objects for long time, we get tired because of continuous use of energy for keeping the fingers in certain positions. Similarly, in prosthetic hands we also need to provide energy continuously to artificial muscles to hold the object for a certain period of time, which is certainly not energy efficient. In this work we, describe the design of the robotic hand and locking mechanism along with the experimental results on the performance of the locking mechanism.

Paper Details

Date Published: 22 April 2016
PDF: 9 pages
Proc. SPIE 9797, Bioinspiration, Biomimetics, and Bioreplication 2016, 97970V (22 April 2016); doi: 10.1117/12.2219535
Show Author Affiliations
Lokesh Saharan, The Univ. of Texas at Dallas (United States)
Yonas Tadesse, The Univ. of Texas at Dallas (United States)

Published in SPIE Proceedings Vol. 9797:
Bioinspiration, Biomimetics, and Bioreplication 2016
Raúl J. Martín-Palma; Akhlesh Lakhtakia; Mato Knez, Editor(s)

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