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A Self-sensing TSA-actuated Anthropomorphic Robot Hand

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Abstract

This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators (TSAs). The use of TSAs provides several advantages such as muscle-like structures, high transmission ratios, large output forces, high efficiency, compactness, inherent compliance, and the ability to transmit power over distances. However, conventional sensors used in TSA-actuated robotic hands increase stiffness, mass, volume, and complexity, making feedback control challenging. To address this issue, a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite (CPC). By measuring the resistance changes in the strain-sensing string, the bending angle of the robot hand's fingers can be estimated, enabling closed-loop control without external sensors. The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers, a palm, five self-sensing TSAs, and a 3D-printed forearm. Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand. Additionally, a real-time Virtual Reality (VR) monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities. This research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This work is partially supported by the Anhui Provincial Key Research and Development Program No. 2022f04020008, National Natural Science Foundation of China No. 62301522 and Anhui Provincial Nature Science Foundation No. 1908085MF196.

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Authors and Affiliations

  1. Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China

    Chanchan Xu, Jingwei Zhan, Yucheng Wang & Xiaojie Wang

  2. CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, 230026, China

    Chanchan Xu, Shuai Dong & Yifan Ma

  3. Institutes of Physical Science and Information Technology, Anhui University, Hefei, 230601, China

    Jingwei Zhan

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  1. Chanchan Xu
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Correspondence to Shuai Dong or Xiaojie Wang.

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Xu, C., Dong, S., Ma, Y. et al. A Self-sensing TSA-actuated Anthropomorphic Robot Hand. J Bionic Eng (2024). https://doi.org/10.1007/s42235-024-00491-w

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