지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,797 - 1,800 (4page)
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초록· 키워드
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This paper proposes a lightweight prosthetic hand with five fingers that are driven by contraction force of shape memory alloy (SMA). Each finger is composed of SMA-wire mechanism similar to the muscle-tendon structure of human. Finger flexion is performed by contraction force of SMA, but its extension is carried out by a restoring force of a spring mounted on the backside of finger. The developed hand has five fingers, but its total DOF is six due to an under-actuated mechanism. Each finger posture is achieved by control of the SMA length using the electric resistance characteristics of SMA. Therefore the developed hand is possible to perform dexterous hand motions such as tip grasp, precision grasp and lateral hip. Based on a statics analysis of finger mechanism, we estimate the hand grip force. In experiments, we measured the grip force and then compared it to the simulation results. As a result, the maximum grip force was 4.52N by the constant input force, 13N, when the MCP joint angle was 90 degrees.
목차
Abstract
1. INTRODUCTION
2. HAND DESIGN
3. ARTIFICIAL MUCLE
4. EXPERIMENTAL RESULTS
5. CONCLUSION
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UCI(KEPA) : I410-ECN-0101-2014-569-000915765