A Smart and Hybrid Composite Finger with Biomimetic Tapping Motion for Soft Prosthetic Hand  

作　　者：Hu Jin Erbao Dong Min Xu Jie Yang 

机构地区：[1]CAS Key Laboratory of Mechanical Behavior and Design of Materials,University of Science and Technology of China,Hefei 230027,China [2]Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei 230027,China

出　　处：《Journal of Bionic Engineering》2020年第3期484-500,共17页仿生工程学报（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(Nos.61773358 and 51705495).

摘　　要：This paper introduces the design and fabrication of a smart and Hybrid Composite Finger(HCF)to achieve finger-like motions,such as holding and tapping motions.Bionic research on tapping motion of the index finger was conducted to obtain its structural and tapping parameters.The HCF,actuated by Shape Memory Alloy(SMA)wires,possesses a hybrid structure which is composed of a rigid structure to be its metacarpal part and a deformable structure to produce bending movement just like the function of the finger.Owing to an adhesive bonding technology,the HCF was fabricated with a composite structure which is reliable under impulsive responses,and had a worklife of more than 630000 times.A bending model was built by synthesizing the phase transformation dynamic model of the SMA wires and quasi-static analysis of the HCF.Structural optimization of the HCF was conducted by synthesizing the bending model together with experimental analyses.To produce a holding motion like as the finger,a holding heating strategy was proposed to adaptively heat the HCF to keep holding state based on the resistance feedback of SMA wires and a Proportion Differentiation(PD)algorithm.Besides,we used an impulsive heating method to heat the HCF to produce a high fidelity tapping motion with a maximum tapping force(6.83 N)at a response time(43 ms)which considerably coincided with those(about 5.8 N,45 ms)from tapping bionics of the index finger.Finally,a soft prosthetic hand system which had a hand-like appearance was manufactured based on the HCFs and several tests like as anthropomorphic gesture motions and human-like tapping motions to tap a keyboard were conducted to prove potential application of the HCF.

关 键 词：soft robotics soft prosthetic hand BIOMIMETIC artificial muscle composite structure SMA wires 

分 类 号：Q81[生物学—生物工程]