Journal of Artificial Organs

, Volume 21, Issue 2, pp 238–246 | Cite as

Rapid prototyping prosthetic hand acting by a low-cost shape-memory-alloy actuator

  • Enrique Soriano-Heras
  • Fernando Blaya-Haro
  • Carlos Molino
  • José María de Agustín del Burgo
Original Article Artificial Skin, Muscle, Bone / Joint, Neuron

Abstract

The purpose of this article is to develop a new concept of modular and operative prosthetic hand based on rapid prototyping and a novel shape-memory-alloy (SMA) actuator, thus minimizing the manufacturing costs. An underactuated mechanism was needed for the design of the prosthesis to use only one input source. Taking into account the state of the art, an underactuated mechanism prosthetic hand was chosen so as to implement the modifications required for including the external SMA actuator. A modular design of a new prosthesis was developed which incorporated a novel SMA actuator for the index finger movement. The primary objective of the prosthesis is achieved, obtaining a modular and functional low-cost prosthesis based on additive manufacturing executed by a novel SMA actuator. The external SMA actuator provides a modular system which allows implementing it in different systems. This paper combines rapid prototyping and a novel SMA actuator to develop a new concept of modular and operative low-cost prosthetic hand.

Keywords

Rapid prototyping Shape-memory-alloy Low-cost prosthesis Underactuated mechanism 

List of symbols

\(\vec {q}\)

Coordinates’ vector

\(\vec {\Phi }\)

Constraint equations’ system

\({x_i}\)

Horizontal coordinate

\({y_i}\)

Vertical coordinate

\(\theta ,{\alpha _1}\)

Angular coordinate

\({L_{ij}}\)

Bar length

\({\lambda _i}\)

Proportionality constant

\(\dot {\theta }\)

Angular speed

\(\ddot {\theta }\)

Angular acceleration

References

  1. 1.
    Zuo KJ, Olson JL. The evolution of functional hand replacement: from iron prostheses to hand transplantation. Plast Surg. 2014;22(1):44–51.CrossRefGoogle Scholar
  2. 2.
    Perry I. How prosthetic limbs work, (online) HowStuffWorks. 2008. http://science.howstuffworks.com/prosthetic-limb2.htm. Accessed 11 May 2016.
  3. 3.
    Hophinson N, Dickens P. Rapid prototyping for direct manufacture. Rapid Prototyp J. 2001;7(4):197–202.CrossRefGoogle Scholar
  4. 4.
    Enabling the Future. Enabling the future. 2016. http://enablingthefuture.org/. Accessed 12 March 2016.
  5. 5.
    Open Bionics. Home. 2016. http://www.openbionics.com/. Accessed 12 March 2016.
  6. 6.
    Exiii-hackberry.com. HACKberry Open source community. 2016. http://exiii-hackberry.com/. Accessed 13 March 2016.
  7. 7.
    Kaplanoglu E. Design of shape memory alloy-based and tendon-driven actuated fingers towards a hybrid anthropomorphic prosthetic hand. Int J Adv Robotic Syst. 2012.  https://doi.org/10.5772/51276.Google Scholar
  8. 8.
    Simone F, York A, Seelecke S. Design and fabrication of a three-finger prosthetic hand using SMA muscle wires. In: International society for optics and photonics. Bioinspiration, biomimetics, and bioreplication, vol 9429. 2015; p. 94290T.  https://doi.org/10.1117/12.2084524.
  9. 9.
    Yee CA, Kasim M, Koch T, Dumitrescu R, Yussof H, Jaafar R, Jaffar A, Aqilah A, Mun K. Hybrid-actuated finger prosthesis with tactile sensing. Int J Adv Robotic Syst. 2013;10:1.CrossRefGoogle Scholar
  10. 10.
    She Y, Li C, Cleary J, Su H. Design and fabrication of a soft robotic hand with embedded actuators and sensors. J Mech Robot. 2015;7(2):021007.CrossRefGoogle Scholar
  11. 11.
    Tlegenov Y, Telegenov K, Shintemirov A. 2014. An open-source 3D printed underactuated robotic gripper, mechatronic and embedded systems and applications (MESA), 2014 IEEE/ASME 10th international conference, pp. 1–6, IEEE.Google Scholar
  12. 12.
    Bundhoo E, Haslam B, Birch E, Park J. A shape memory alloy-based tendon driven actuation system for biomimetic artificial fingers. Part I design and evaluation. Robotica. 2008;27(1):131–146.CrossRefGoogle Scholar
  13. 13.
    Andrianesis K, Tzes A, Nikolakopoulos G, Koveos Y. Experimental study of a shape memory alloy actuation system for a novel prosthetic hand. In: Cismasiu Corneliu, editor. Shape memory alloys. London: INTECH, Open Access Publisher; 2010.Google Scholar
  14. 14.
    Otsuka K, Kakeshita T. Science and technology of shape-memory alloys: new developments. MRS Bull. 2002;27(02):91–100.CrossRefGoogle Scholar
  15. 15.
    Hodgson DE, Wu MH, Biermann RJ. Shape memory alloys. Metals handbook. Vol 2. Ohio: ASM International; 1990.Google Scholar
  16. 16.
    Huang W. 1998. Shape memory alloys and their application to actuators for deployable structures. PhD Thesis, University of Cambridge, Peterhouse.Google Scholar
  17. 17.
    Dynalloy.com. Flexinol® actuator wire technical and design data. 2016. http://www.dynalloy.com/tech_data_wire.php. Accessed 23 April 2016.
  18. 18.
    Smith M. Handie prosthetic uses 3D printing and smartphones for much cheaper bionic hands (video). 2013. https://www.engadget.com/2013/11/03/handie-prosthetic-cheaper-smartphone-3d-printing/. Accessed 13 March 2016.

Copyright information

© The Japanese Society for Artificial Organs 2018

Authors and Affiliations

  1. 1.Universidad Carlos III de MadridLeganés, MadridSpain
  2. 2.ETSIDI, Universidad Politécnica de MadridMadridSpain

Personalised recommendations