SBC hand: A lightweight robotic hand with an SMA actuator array implementing C-segmentation

被引：26

作者：

Cho, Kyu-Jin ^{[1
]}

Rosmarin, Josiah ^{[1
]}

Asada, Harry ^{[1
]}

机构：

[1] MIT, Dept Mech Engn, Arbeloff Lab Informat Syst & Technol, 77 Massachusetts Ave, Cambridge, MA 02139 USA

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

基金：

美国国家科学基金会;

关键词：

robotic hand; actuator; synergy; grasps;

D O I：

10.1109/ROBOT.2007.363103

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

This paper presents a lightweight robotic hand that uses an SMA actuator array. The SMA wires are activated via joule heating, implementing SBC. A coordinate transformation architecture which reduces activation signal dimensionality, known as C-segmentation, is presented. A robotic hand with 16 controlled DOF and 32 independent SMA axes was developed to demonstrate the advantages of joule-heated SBC; the total weight of the robotic hand system was less than 800 grams. 16 different grasping postures were successfully recreated by using only 8 C-segments. It was concluded that a very lightweight robotic hand with simple controls can effectively reproduce the necessary configurations for conventional grasping situations.

引用

页码：921 / 926

页数：6

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