Design of an anthropomorphic prosthetic hand driven by shape memory alloy actuators

Konstantinos Andrianesis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the mechanical design of an ultra-lightweight, biomimetically actuated anthropomorphic hand for prosthetic purposes. The proposed design is based on an underactuated configuration of 16 joints and 7 active degrees of freedom. Shape Memory Alloy wires are used as motive elements of a specially designed actuation system installed within the envelope of the hand and forearm; due to their inherent contraction ability when heated, these innovative micro-actuators produce linear motion which is imparted to the fingers via a tendon transmission system. The overall design is completed with the integration of the necessary locking mechanisms for power saving. An experimental prototype of the suggested prosthesis has been fabricated using rapid prototyping techniques and it will be used as an evaluation platform for further research towards the development of a truly multifunctional, silent and cosmetically appealing hand for upper limb amputees.

Original languageEnglish (US)
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages517-522
Number of pages6
DOIs
StatePublished - 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Publication series

NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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