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Development of a shape memory based drive and control concept for a hand prosthesis

: Bucht, A.; Rotsch, C.; Pagel, K.; Jung, J.; Kunze, H.

Fulltext urn:nbn:de:0011-n-1341104 (258 KByte PDF)
MD5 Fingerprint: 25172b2bc230d99e9936436718cd3e6a
Created on: 29.3.2011

Borgmann, H. ; Wirtschaftsförderung Bremen GmbH -WFB-; Hanseatische Veranstaltungs GmbH -HVG-, Geschäftsbereich Messe Bremen, Bremen:
ACTUATOR 2010, 12th International Conference on New Actuators & 6th International Exhibition on Smart Actuators and Drive Systems. Conference Proceedings : 14. - 16. Juni 2010, Bremen, Germany
Bremen: WFB, 2010
ISBN: 978-3-933339-13-3
ISBN: 978-3-933339-12-6
International Conference on New Actuators (ACTUATOR) <12, 2010, Bremen>
International Exhibition on Smart Actuators and Drive Systems <6, 2010, Bremen>
Conference Paper, Electronic Publication
Fraunhofer IWU ()
shape-memory-actuator; control; self-sensing

Shape-memory-alloys (SMA) are easy to integrate into mechanical structures and capable of handling high specific workloads. Therefore, SMA’s possess an outstanding potential to serve as positioning devices in artificial limbs. In this article the development process of shape-memory actuated hand prosthesis is presented. SMA actuators are used in a feedback-control-loop to control the displacements of the finger-tips. To design the controller a simple model is derived from the energy flows in the actuator. Instead of using an external position sensor the controller is driven by the measured resistance of the shape memory wire. The controller is implemented on a rapid-prototyping-system and the functionality of the hand prosthesis is validated by gripping a defined cylindrical body in two different ways.