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Guo K, Lu J, Wu Y, Hu X, Yang H. The Latest Research Progress on Bionic Artificial Hands: A Systematic Review. MICROMACHINES 2024; 15:891. [PMID: 39064402 PMCID: PMC11278702 DOI: 10.3390/mi15070891] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/25/2024] [Revised: 07/01/2024] [Accepted: 07/03/2024] [Indexed: 07/28/2024]
Abstract
Bionic prosthetic hands hold the potential to replicate the functionality of human hands. The use of bionic limbs can assist amputees in performing everyday activities. This article systematically reviews the research progress on bionic prostheses, with a focus on control mechanisms, sensory feedback integration, and mechanical design innovations. It emphasizes the use of bioelectrical signals, such as electromyography (EMG), for prosthetic control and discusses the application of machine learning algorithms to enhance the accuracy of gesture recognition. Additionally, the paper explores advancements in sensory feedback technologies, including tactile, visual, and auditory modalities, which enhance user interaction by providing essential environmental feedback. The mechanical design of prosthetic hands is also examined, with particular attention to achieving a balance between dexterity, weight, and durability. Our contribution consists of compiling current research trends and identifying key areas for future development, including the enhancement of control system integration and improving the aesthetic and functional resemblance of prostheses to natural limbs. This work aims to inform and inspire ongoing research that seeks to refine the utility and accessibility of prosthetic hands for amputees, emphasizing user-centric innovations.
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Affiliation(s)
- Kai Guo
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei 230026, China
| | - Jingxin Lu
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
| | - Yuwen Wu
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
| | - Xuhui Hu
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
| | - Hongbo Yang
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei 230026, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
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2
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Guo K, Lu J, Yang H. Simulation and experimental study on rope driven artificial hand and driven motor. Technol Health Care 2024; 32:287-297. [PMID: 38759057 PMCID: PMC11191542 DOI: 10.3233/thc-248025] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/19/2024]
Abstract
BACKGROUND Prosthetic hands have the potential to replace human hands. Using prosthetic hands can help patients with hand loss to complete the necessary daily living actions. OBJECTIVE This paper studies the design of a bionic, compact, low-cost, and lightweight 3D printing humanoid hand. The five fingers are underactuated, with a total of 9 degrees of freedom. METHODS In the design of an underactuated hand, it is a basic element composed of an actuator, spring, rope, and guide system. A single actuator is providing power for five fingers. And the dynamic simulation is carried out to calculate the motion trajectory effect. RESULTS In this paper, the driving structure of the ultrasonic motor was designed, and the structural size of the ultrasonic motor vibrator was determined by modal and transient simulation analysis, which replace the traditional brake, realize the lightweight design of prosthetic hand, improve the motion accuracy and optimize the driving performance of prosthetic hand. CONCLUSIONS By replacing traditional actuators with new types of actuators, lightweight design of prosthetic hands can be achieved, improving motion accuracy and optimizing the driving performance of prosthetic hands.
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Affiliation(s)
- Kai Guo
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, Anhui, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, Jiangsu, China
| | - Jingxin Lu
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, Jiangsu, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun, Jilin, China
| | - Hongbo Yang
- School of Biomedical Engineering (Suzhou), Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, Anhui, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, Jiangsu, China
- College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun, Jilin, China
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Dickinson E, Young MW, Flaim ND, Sawiec A, Granatosky MC. A functional framework for interpreting phalangeal form. J R Soc Interface 2023; 20:20230251. [PMID: 37582408 PMCID: PMC10427194 DOI: 10.1098/rsif.2023.0251] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/28/2023] [Accepted: 07/26/2023] [Indexed: 08/17/2023] Open
Abstract
Across tetrapods, the proportional lengths of the manual and pedal phalanges are highly constrained, following a generalized blueprint of shortening in a proximodistal gradient. Despite this, several lineages of both mammals (e.g. sloths, bats and colugos) and birds (e.g. raptors, parrots and woodpeckers) have broken this pattern, shortening the proximal phalanx while elongating more distal elements. As yet, no unifying explanation for this convergence has been empirically evaluated. This study combines a comparative phylogenetic assessment of phalangeal morphology across mammals and birds with a novel bioinspired robotics approach to explicitly test functional hypotheses relating to these morphotypes. We demonstrate that shortening the proximal phalanx allows taxa to maximize forces produced at the proximal interphalangeal joint, while elongation of subsequent elements maintains total ray length-ensuring arboreal species can still enclose large-diameter supports. Within suspensory and vertically clinging mammals, we additionally observe a secondary adaptation towards maximizing grip strength: namely increasing the height of the trochleae to increase the moment arm of digital flexor muscles that cross the joint. Together, our analyses highlight that numerous tetrapod lineages independently converged upon this morphotype to maximize proximal gripping strength, an adaptation to support specialized hunting and locomotor behaviours.
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Affiliation(s)
- Edwin Dickinson
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Melody W. Young
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Nicholas D. Flaim
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Aleksander Sawiec
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
- Center for Biomedical Innovation, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Michael C. Granatosky
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
- Center for Biomedical Innovation, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
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Silva RC, Lourenço BG, Ulhoa PHF, Dias EAF, da Cunha FL, Tonetto CP, Villani LG, Vimieiro CBS, Lepski GA, Monjardim M, Andrade RM. Biomimetic Design of a Tendon-Driven Myoelectric Soft Hand Exoskeleton for Upper-Limb Rehabilitation. Biomimetics (Basel) 2023; 8:317. [PMID: 37504205 PMCID: PMC10807486 DOI: 10.3390/biomimetics8030317] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 07/14/2023] [Accepted: 07/17/2023] [Indexed: 07/29/2023] Open
Abstract
Degenerative diseases and injuries that compromise hand movement reduce individual autonomy and tend to cause financial and psychological problems to their family nucleus. To mitigate these limitations, over the past decade, hand exoskeletons have been designed to rehabilitate or enhance impaired hand movements. Although promising, these devices still have limitations, such as weight and cost. Moreover, the movements performed are not kinematically compatible with the joints, thereby reducing the achievements of the rehabilitation process. This article presents the biomimetic design of a soft hand exoskeleton actuated using artificial tendons designed to achieve low weight, volume, and cost, and to improve kinematic compatibility with the joints, comfort, and the sensitivity of the hand by allowing direct contact between the hand palm and objects. We employed two twisted string actuators and Bowden cables to move the artificial tendons and perform the grasping and opening of the hand. With this configuration, the heavy part of the system was reallocated to a test bench, allowing for a lightweight set of just 232 g attached to the arm. The system was triggered by the myoelectric signals of the biceps captured from the user's skin to encourage the active participation of the user in the process. The device was evaluated by five healthy subjects who were asked to simulate a paralyzed hand, and manipulate different types of objects and perform grip strength. The results showed that the system was able to identify the intention of movement of the user with an accuracy of 90%, and the orthosis was able to enhance the ability of handling objects with gripping force up to 1.86 kgf.
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Affiliation(s)
- Rodrigo C. Silva
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
| | - Bruno. G. Lourenço
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
| | - Pedro H. F. Ulhoa
- Department of Electrical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil;
| | - Eduardo A. F. Dias
- Graduate Program of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil;
| | - Fransergio L. da Cunha
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
| | - Cristiane P. Tonetto
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
| | - Luis G. Villani
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
| | - Claysson B. S. Vimieiro
- Graduate Program of Mechanical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte 31270-901, Brazil;
| | - Guilherme A. Lepski
- Departments of Neurology and Psychiatry, Medical School, Universidade de São Paulo, São Paulo 05403-010, Brazil;
| | - Marina Monjardim
- Graduate Program of Animal Biology, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil;
| | - Rafhael M. Andrade
- Department of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil; (R.C.S.); (B.G.L.); (F.L.d.C.); (C.P.T.); (L.G.V.)
- Graduate Program of Mechanical Engineering, Universidade Federal do Espírito Santo, Vitória 29.075-910, Brazil;
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Xia Z, Deng Z, Fang B, Yang Y, Sun F. A review on sensory perception for dexterous robotic manipulation. INT J ADV ROBOT SYST 2022. [DOI: 10.1177/17298806221095974] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
Sensory perception for dexterous robotic hands is an active research area and recent progress in robotics. Effective dexterous manipulation requires robotic hands to accurately feedback their state or perceive the surrounding environment. This article reviews the state-of-the-art of sensory perception for dexterous robotic manipulation. Two types of sensors, such as intrinsic and extrinsic sensors, are introduced according to their function and layout in robotic hands. These sensors provide rich information to a robotic hand, which contains the posture, the contact information of objects, and the physical information of the environment. Then, a comprehensive analysis of perception methods including planning-level, control-level, and learning-level perceptions is presented. The information obtained from sensory perception can help robotic hands to make decisions effectively. Previously issued reviews mainly focus on the design of tactile senor, while we analyze and discuss the relationship among sensing, perception, and dexterous manipulation. Some potential research topics on sensory perception are also summarized and discussed.
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Affiliation(s)
- Ziwei Xia
- School of Engineering and Technology, China University of Gaosciences, Beijing, China
| | - Zhen Deng
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Bin Fang
- Tsinghua National Laboratory for Information Science and Technology, Tsinghua University, Beijing, China
| | - Yiyong Yang
- School of Engineering and Technology, China University of Gaosciences, Beijing, China
| | - Fuchun Sun
- Tsinghua National Laboratory for Information Science and Technology, Tsinghua University, Beijing, China
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Cho Y, Lee Y, Kim P, Jeong S, Kim KS. The MSC Prosthetic Hand: Rapid, Powerful, and Intuitive. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3140444] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/04/2023]
Affiliation(s)
- Younggeol Cho
- Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Deajeon, South Korea
| | - Yeongseok Lee
- Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Deajeon, South Korea
| | | | - Seokhwan Jeong
- Department of Mechanical Engineering, Sogang University, Seoul, South Korea
| | - Kyung-Soo Kim
- Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Deajeon, South Korea
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Active-Type Continuously Variable Transmission System Based on a Twisted String Actuator. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3144782] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Abstract
Abstract
In this paper, a novel self-adaptive underactuated robot hand with rigid-flexible coupling fingers (SAU-RFC hand) is proposed. The seven degrees of freedom (DOFs) SAU-RFC hand is driven by four servomotors, consists of three fingers, including two side-turning (ST) fingers and one non-side-turning finger. Specially, the ST fingers can perform synchronous reverse rotation laterally with each other. Each finger with three joints and two DOFs introduces a flexible structure, and the inner part of the proximal phalanx that makes most of the contact with the object is replaced by a flexible belt. The fingers can generate flexion/extension under the pull of the flexible belt, and the middle and distal phalanxes are mechanically coupled through a four-bar linkage. In particular, the flexible belt in the inner direction of the finger will deform, while it will not deform in the outer direction since the outer is a rigid structure. The flexible belt not only plays the role of transmitting power but also has the effect of uniformizing the contact force. Due to the rigid-flexible finger structure, the developed robot hand has a higher self-adaptive grasping ability for objects with different shapes, sizes, and hardness. In addition, the kinematic and kinetic analyses of SAU-RFC hand are performed. A contact force distribution model is established for the flexible belt, which demonstrates its effect of promoting uniform force distribution theoretically. In the end, experiments are conducted on different objects to verify the performance of SAU-RFC hand.
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Weiner P, Starke J, Rader S, Hundhausen F, Asfour T. Designing Prosthetic Hands With Embodied Intelligence: The KIT Prosthetic Hands. Front Neurorobot 2022; 16:815716. [PMID: 35355833 PMCID: PMC8960052 DOI: 10.3389/fnbot.2022.815716] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/15/2021] [Accepted: 02/01/2022] [Indexed: 11/13/2022] Open
Abstract
Hand prostheses should provide functional replacements of lost hands. Yet current prosthetic hands often are not intuitive to control and easy to use by amputees. Commercially available prostheses are usually controlled based on EMG signals triggered by the user to perform grasping tasks. Such EMG-based control requires long training and depends heavily on the robustness of the EMG signals. Our goal is to develop prosthetic hands with semi-autonomous grasping abilities that lead to more intuitive control by the user. In this paper, we present the development of prosthetic hands that enable such abilities as first results toward this goal. The developed prostheses provide intelligent mechatronics including adaptive actuation, multi-modal sensing and on-board computing resources to enable autonomous and intuitive control. The hands are scalable in size and based on an underactuated mechanism which allows the adaptation of grasps to the shape of arbitrary objects. They integrate a multi-modal sensor system including a camera and in the newest version a distance sensor and IMU. A resource-aware embedded system for in-hand processing of sensory data and control is included in the palm of each hand. We describe the design of the new version of the hands, the female hand prosthesis with a weight of 377 g, a grasping force of 40.5 N and closing time of 0.73 s. We evaluate the mechatronics of the hand, its grasping abilities based on the YCB Gripper Assessment Protocol as well as a task-oriented protocol for assessing the hand performance in activities of daily living. Further, we exemplarily show the suitability of the multi-modal sensor system for sensory-based, semi-autonomous grasping in daily life activities. The evaluation demonstrates the merit of the hand concept, its sensor and in-hand computing systems.
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Yang J, Kim D, Yoon J, Kim J, Yun D. Ring-pull Type Soft Wearable Robotic Glove for Hand Strength Assistance. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3193634] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Junmo Yang
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Donghyun Kim
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Jingon Yoon
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Jisu Kim
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Dongwon Yun
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
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Kim U, Jung D, Jeong H, Park J, Jung HM, Cheong J, Choi HR, Do H, Park C. Integrated linkage-driven dexterous anthropomorphic robotic hand. Nat Commun 2021; 12:7177. [PMID: 34907178 PMCID: PMC8671524 DOI: 10.1038/s41467-021-27261-0] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/10/2020] [Accepted: 11/05/2021] [Indexed: 11/22/2022] Open
Abstract
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm. Though robotic hands capable of adaptive grasping have been developed, realizing integrated hands with higher degree of freedom (DOF) movement and technology compatibility remains a challenge. Here, the authors report integrated linkage-driven robotic hand with improved design and performance.
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Affiliation(s)
- Uikyum Kim
- Department of Mechanical Engineering, Ajou University, Suwon, 16499, Korea. .,Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea.
| | - Dawoon Jung
- Department of Control and Instrumentation Engineering, Korea University, Sejong, 30019, Korea
| | - Heeyoen Jeong
- Department of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Korea
| | - Jongwoo Park
- Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea
| | - Hyun-Mok Jung
- Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea
| | - Joono Cheong
- Department of Control and Instrumentation Engineering, Korea University, Sejong, 30019, Korea
| | - Hyouk Ryeol Choi
- Department of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Korea
| | - Hyunmin Do
- Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea
| | - Chanhun Park
- Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials (KIMM), Daejeon, 34103, Korea
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Nedelchev S, Skvortsova V, Guryev B, Gaponov I, Ryu JH. On Energy-Preserving Motion in Twisted String Actuators. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097655] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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13
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A compact, compliant, and biomimetic robotic assistive glove driven by twisted string actuators. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2021. [DOI: 10.1007/s41315-021-00198-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
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Bombara D, Fowzer S, Zhang J. Compliant, Large-Strain, and Self-Sensing Twisted String Actuators. Soft Robot 2020; 9:72-88. [PMID: 33216699 DOI: 10.1089/soro.2020.0086] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/08/2023] Open
Abstract
Twisted string actuators (TSAs) convert rotational motion from twisting into linear motion. They are known for high energy efficiency, and large linear strain and stress outputs. Although they have been successfully applied as the moving mechanism for different robot applications, their potential in soft robotics is mainly challenged by two aspects: First, the conventional strings of TSAs are stiff and strong but not compliant. Second, precise control of TSAs predominantly relies on external position or force sensors. Because of these, TSA-driven robots are often rigid and bulky. In this study, we propose the design, modeling, and robotic application of TSAs that are compliant, can produce large strain, and are capable of self-sensing during twisting-induced actuation. The design is realized by replacing conventional stiff strings with compliant, thermally activated, and conductive supercoiled polymer strings. Experiments show that the developed TSAs have normalized stiffness of <50 N, strain >30%, and position self-sensing capability during twisting. The quasi-static actuation and self-sensing properties are accurately captured by the Preisach hysteresis operators. In particular, both the twisting-induced actuation and thermally induced actuation are considered. Finally, the proposed TSAs are successfully demonstrated in a low-cost three-dimensionally printed compliant robotic gripper.
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Affiliation(s)
- David Bombara
- Department of Mechanical Engineering, University of Nevada, Reno, Nevada, USA
| | - Steven Fowzer
- Department of Mechanical Engineering, University of Nevada, Reno, Nevada, USA
| | - Jun Zhang
- Department of Mechanical Engineering, University of Nevada, Reno, Nevada, USA
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15
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Park J, Hwang I, Lee W. Wearable Robotic Glove Design Using Surface-Mounted Actuators. Front Bioeng Biotechnol 2020; 8:548947. [PMID: 33102453 PMCID: PMC7546395 DOI: 10.3389/fbioe.2020.548947] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/04/2020] [Accepted: 08/20/2020] [Indexed: 11/13/2022] Open
Abstract
We propose a novel wearable robotic glove or exo-glove design scalable to the variation of the hand kinematics. While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. Multiple tendons woven on the exo-glove's surface can make multi-DOF finger joint motions. We allocated tendons to mimic a hand's intrinsic and extrinsic muscles. Thus, a robotic hand actuated with the exo-glove can perform natural finger motions, including abduction/adduction and flexion/extension of finger joints. Moreover, additional tendons for the thumb enable power grips and the robotic hand's human-like motion. The proposed design approach places all the actuators on the surface without directly actuating any of the hand skeleton's joint. Therefore, a random hand skeleton can work as a robotic hand by putting the wearable robotic glove on it. Thus, the proposed model provides a high degree of freedom on choosing hand skeletons. We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove.
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Affiliation(s)
- Jaeyoung Park
- Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South Korea
| | - Inchan Hwang
- Department of Mechanical Engineering, Seoul National University, Seoul, South Korea
| | - Woochan Lee
- Department of Electrical Engineering, Incheon National University, Incheon, South Korea
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16
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Yan L, Wang Q, Li H, Zhang Q. Experimental investigation of a twisted string actuation for usage in active catheter. Int J Med Robot 2020; 16:1-10. [PMID: 32780925 DOI: 10.1002/rcs.2145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/08/2020] [Revised: 07/20/2020] [Accepted: 07/25/2020] [Indexed: 11/10/2022]
Abstract
BACKGROUND The improvement of the steerability and controllability of catheters is highly required because catheter-based interventional diagnosis and therapy have become increasingly popular. However, active catheters are often complex and expensive. METHODS This study attempts to control catheter tip by a twisted string actuator. Experiments are carried out to analyze the full actuation and bending characteristics of the active catheter. RESULTS It is indicated that the expected bending motion can be achieved by twisting the strings. Hysteresis behavior in backward and forward motion is also discussed. High repetitive positional accuracy and reverse position accuracy can be obtained when the number of rotation is low. When the number of turns is 25, the maximum tip position errors are 4, 1.8 and 1 mm in X, Y and Z directions, respectively. CONCLUSION It is expected that the presented method will prove useful for the application of twisted string active catheter.
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Affiliation(s)
- Lutao Yan
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Qi Wang
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Haiyuan Li
- School of Automation, Beijing University of Posts and Telecommunications, Beijing, China
| | - Qinjian Zhang
- School of Mechanical Electrical Engineering, Beijing Information Science and Technology University, Beijing, China
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Li Y, Ren T, Chen Y, Zhou J, Hu Y, Wang Z, Sun W, Xiong C. Untethered Multimode Fluidic Actuation: A New Approach to Soft and Compliant Robotics. Soft Robot 2020; 8:71-84. [PMID: 32320346 DOI: 10.1089/soro.2019.0131] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Fluid actuated soft robots, or fluidic elastomer actuators, have shown great potential in robotic applications where large compliance and safe interaction are dominant concerns. They have been widely studied in wearable robotics, prosthetics, and rehabilitations in recent years. However, such soft robots and actuators are tethered to a bulky pump and controlled by various valves, limiting their applications to a small confined space. In this study, we report a new and effective approach to fluidic power actuation that is untethered, easy to design, fabricate, control, and allows various modes of actuation. In the proposed approach, a sealed elastic tube filled with fluid (gas or liquid) is segmented by adaptors. When twisting a segment, two major effects could be observed: (1) the twisted segment exhibits a contraction force and (2) other segments inflate or deform according to their constraint patterns. Utilizing such effects, various actuation modes could be realized. In this research, four modes of actuation are illustrated: (1) soft actuator and pump actuation, (2) serial actuation, (3) parallel actuation, and (4) agonist and antagonist actuation. Theoretic analysis and experimental studies for the basic actuation principle have been conducted. A case study on an anthropomorphic forearm based on the proposed twisting tube actuation has been developed to showcase the effectiveness of the actuation modes. The studies suggest that the proposed approach has a great potential in both soft and compliant robotics.
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Affiliation(s)
- Yunquan Li
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Tao Ren
- The College of Nuclear Technology and Automation Engineering, Chengdu University of Technology, Chengdu, China
| | - Yonghua Chen
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Jianshu Zhou
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Yong Hu
- Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, China
| | - Zheng Wang
- Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, China
| | - Wei Sun
- Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, Pennsylvania, USA
| | - Caihua Xiong
- School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China
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Jeong S, Tran P, Desai JP. Integration of Self-Sealing Suction Cups on the FLEXotendon Glove-II Robotic Exoskeleton System. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2965895] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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19
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Khan MA, Suthar B, Gaponov I, Ryu JH. Single-Motor-Based Bidirectional Twisted String Actuation With Variable Radius Pulleys. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2928772] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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20
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Zhang J, Sheng J, O'Neill CT, Walsh CJ, Wood RJ, Ryu JH, Desai JP, Yip MC. Robotic Artificial Muscles: Current Progress and Future Perspectives. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2894371] [Citation(s) in RCA: 125] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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21
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Hughes JAE, Maiolino P, Iida F. An anthropomorphic soft skeleton hand exploiting conditional models for piano playing. Sci Robot 2018; 3:3/25/eaau3098. [DOI: 10.1126/scirobotics.aau3098] [Citation(s) in RCA: 34] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/28/2018] [Accepted: 11/18/2018] [Indexed: 01/19/2023]
Abstract
The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such as a skeleton hand, as an approach to improving adaptability, dexterity, and richness of behavioral diversity of such robotic manipulators. With the use of state-of-the-art multimaterial three-dimensional printing technologies, it is possible to design and construct complex passive structures, namely, a complex anthropomorphic skeleton hand that shows anisotropic mechanical stiffness. We introduce a concept, termed the “conditional model,” that exploits the anisotropic stiffness of complex soft-rigid hybrid systems. In this approach, the physical configuration, environment conditions, and conditional actuation (applied actuation) resulted in an observable conditional model, allowing joint actuation through passivity-based dynamic interactions. The conditional model approach allowed the physical configuration and actuation to be altered, enabling a single skeleton hand to perform three different phrases of piano music with varying styles and forms and facilitating improved dynamic behaviors and interactions with the piano over those achievable with a rigid end effector.
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Kim KR, Jeong SH, Kim P, Kim KS. Design of Robot Hand With Pneumatic Dual-Mode Actuation Mechanism Powered by Chemical Gas Generation Method. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2853763] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Jeong SH, Kim KS. A 2-Speed Small Transmission Mechanism Based on Twisted String Actuation and a Dog Clutch. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2792157] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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