Abstract
In the domain of prosthetic robots, main challenges are related to the flexibility and adaptability of devices allowing people to achieve daily tasks. Particularly for robotic hand prosthesis, these challenges can be addressed from two approaches: the soft robotic and the utilization of smart materials. In this paper we propose a methodology to design artificial muscles for robotic fingers, showing the implementation feasibility of smart materials for precision grasping tasks. This work is part of the ProMain project that concerns the modeling and the design of a soft robotic hand prosthesis, actuated by artificial muscles and controlled with surface Electromyography (EMG) signals. In a first stage, we designed a robotic finger based on the equivalent mechanical model of the human finger. The model considers three phalangeal joints to perform flexion and extension movements. The robotic finger has three Degrees of Freedom (DoF), is under-actuated and is driven by tendons. i.e. only one actuator activates the whole finger, and the motor is coupled to the finger mechanism through two flexible wires. Then we carry out two experiments: the first experiment measures the pinch force of the human finger and the second measures kinematics and force of our robotic finger. We enhance experimental results with the mathematical model of the finger, to identify and quantify the main parameters of the artificial muscle. An approach to design an shape memory alloy based artificial muscle is introduced and justified.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
ProMain project concerns the development of a soft robotic hand prosthesis, with artificial muscles and a control system based on surface EMG signals.
- 2.
Torque is calculated in transient and steady state.
- 3.
Settling time is four times the time constant when \(2\,\%\) settlement criterion is used.
- 4.
Typical maximal strain of the NiTi SMA.
References
Mouri T, Kawasaki H, Umebayashi K (2005) Developments of new anthropomorphic robot hand and its master slave system. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), Alberta, Canada, Aug 2005. IEEE, pp 3225–3230
Röthling F, Haschke R, Steil JJ, Ritter H (2007) Platform portable anthropomorphic grasping with the bielefeld 20-dof shadow and 9-dof tum hand. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), San Diego, CA, USA, Nov 2007. IEEE, pp 2951–2956
Endo T, Kawasaki H, Mouri T, Ishigure Y, Shimomura H, Matsumura M, Koketsu K (2011) Five-fingered haptic interface robot: Hiro iii. IEEE Trans Haptics 4(1):14–27
Nurzaman SG, Iida F, Laschi C, Ishiguro A, Wood R (2013) Soft robotics [tc spotlight]. IEEE Robot Autom Mag 20(3):24–95
Ficuciello F, Palli G, Melchiorri C, Siciliano B (2011) Experimental evaluation of the UB Hand IV postural synergies. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems (IROS), San Francisco, CA, USA, September 2011, pp 1775–1780
Catalano MG, Grioli G, Farnioli E, Serio A, Piazza C, Bicchi A (2014) Adaptive synergies for the design and control of the Pisa/IIT SoftHand. Int J Robot Res 33(5):768–782
Reinecke J, Dietrich A, Schmidt F, Chalon M (2014) Experimental comparison of slip detection strategies by tactile sensing with the biotac on the dlr hand arm system. In: Proceedings of IEEE international conference on robotics and automation (ICRA), Hong Kong, China. IEEE, pp 2742–2748
Melchiorri C, Palli G, Berselli G, Vassura G (2013) Development of the UB Hand IV: overview of design solutions and enabling technologies. IEEE Robot Autom Mag 20(3):72–81
Denavit J, Hartenberg R (1955) A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME J Appl Mech 77:215–221
Ramirez J, Rubiano A, Jouandeau N, El Korso MN, Gallimard L, Polit O (2015) Hybrid kinematic model applied to the under-actuated robotic hand prosthesis promain-i and experimental evaluation. In: Proceedings of14th IEEE/RAS-EMBS international conference in rehabilitation robotics (ICORR), Singapore, Aug 2015. IEEE
Khalil W, Kleinfinger J (1986) A new geometric notation for open and closed-loop robots. In: Proceedings of IEEE international conference on robotics and automation. Proceedings, vol 3, pp 1174–1179
Ramirez J, Rubiano A, Jouandeau N, Gallimard L, Polit O (2016) New Trends in Medical and Service Robots, chapter Morphological optimization of prosthesis’ finger for precision grasping. Springer, Nantes, France, pp 1–15
Ramsay JO, Wang X, Flanagan R (1995) A functional data analysis of the pinch force of human fingers. Appl Stat 44:17–30
Schreuders TA, Roebroeck ME, Goumans J, van Nieuwenhuijzen JF, Stijnen TH, Stam HJ (2003) Measurement error in grip and pinch force measurements in patients with hand injuries. Phys Therapy 83(9):806–815
Acknowledgements
Through this acknowledgment, we express our sincere gratitude to the Université Paris Lumières UPL for the financial support through the project PROMAIN. This work has been partly supported by Université Paris Lumières UPL and by a Short Term Scientific Mission funding from LEME-UPO-EA4416/LIASD-UP8-EA4383. We also acknowledge Colciencias - Colombia and the Universidad Militar Nueva Granada for the financial support of the PhD students.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Ramírez, J.L., Rubiano, A., Jouandeau, N., Gallimard, L., Polit, O. (2017). Artificial Muscles Design Methodology Applied to Robotic Fingers. In: Araujo, A., Mota Soares, C. (eds) Smart Structures and Materials. Computational Methods in Applied Sciences, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44507-6_11
Download citation
DOI: https://doi.org/10.1007/978-3-319-44507-6_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-44505-2
Online ISBN: 978-3-319-44507-6
eBook Packages: EngineeringEngineering (R0)