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

  • Original Article
  • Artificial Skin, Muscle, Bone / Joint, Neuron
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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.

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Abbreviations

\(\vec {q}\) :

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

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Authors and Affiliations

  1. Universidad Carlos III de Madrid, Leganés, Madrid, Spain

    Enrique Soriano-Heras

  2. ETSIDI, Universidad Politécnica de Madrid, Madrid, Spain

    Fernando Blaya-Haro, Carlos Molino & José María de Agustín del Burgo

Authors
  1. Enrique Soriano-Heras
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  2. Fernando Blaya-Haro
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  3. Carlos Molino
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  4. José María de Agustín del Burgo
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Correspondence to Enrique Soriano-Heras.

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Soriano-Heras, E., Blaya-Haro, F., Molino, C. et al. Rapid prototyping prosthetic hand acting by a low-cost shape-memory-alloy actuator. J Artif Organs 21, 238–246 (2018). https://doi.org/10.1007/s10047-017-1014-1

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  • DOI: https://doi.org/10.1007/s10047-017-1014-1

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