Mechanical design of a shape memory alloy actuated prosthetic hand.

  title={Mechanical design of a shape memory alloy actuated prosthetic hand.},
  author={Kathryn J. De Laurentis and Constantinos Mavroidis},
  journal={Technology and health care : official journal of the European Society for Engineering and Medicine},
  volume={10 2},
This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. [] Key Method Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate the design. An important aspect of the Rapid Prototype technique used here is that this multi-articulated hand will be fabricated in one…

Design of an anthropomorphic prosthetic hand driven by Shape Memory Alloy actuators

  • K. AndrianesisA. Tzes
  • Engineering
    2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • 2008
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

Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators

Non-conventional actuation technology, based on shape memory alloys, is employed for the development of an innovative low-cost five-fingered prosthetic hand which will enable upper limb amputees to carry out their basic daily tasks more comfortably.

Development and Control of a Multifunctional Prosthetic Hand with Shape Memory Alloy Actuators

In this research paper, non-conventional actuation technology, based on shape memory alloys, is employed for the development of an innovative low-cost five-fingered prosthetic hand. By exploiting the

Mechanical design of an anthropomorphic prosthetic hand for shape memory alloy actuation

The mechanical design for an anthropomorphic prosthetic hand is presented which utilizes fewer cables for finger flexion thus requiring fewer control inputs and simplifies the required control scheme, resulting in a hand which is more affordable, lighter in weight, easy to control and requiring less power consumption.

Design and control of a shape memory alloy based dexterous robot hand

Modern externally powered upper-body prostheses are conventionally actuated by electric servomotors. Although these motors achieve reasonable kinematic performance, they are voluminous and heavy.

Design of an innovative prosthetic hand with compact shape memory alloy actuators

Shape memory alloy actuation is one of the emerging technologies that shows up remarkable advantages compared to conventional actuation. In this research work, this technology is exploited in driving

A Computational Design Method for a Shape Memory Alloy Wire Actuated Compliant Finger

This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving

A shape memory alloy actuated anthropomorphic prosthetic hand: Initial experiments

  • A. KadyM. Taher
  • Engineering
    2011 1st Middle East Conference on Biomedical Engineering
  • 2011
This work presents the design and implementation of an anthropomorphic prosthetic hand actuated using shape memory alloy (SMA) wires. SMAs were chosen as the actuator for their advantages over

A feasibility test of underactuated robotic prosthetic fingers actuated by shape memory alloy

This research focused on developing a compact and lightweight robotic finger system, so the target amputee would be able to execute simple activities in daily living (ADL), such as grasping a bottle or a cup for a long time.

A Soft 3D-Printed Robotic Hand Actuated by Coiled SMA

A soft 3D-printed robotic hand actuated by custom-made coiled shape memory alloy (SMA) actuators using additive manufacturing of flexible thermoplastic polyurethane (TPU) material, which allows flexing at the joint and hence eliminates the need for additional assembly.


In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium

Investigation of a shape memory alloy actuator for dextrous force-feedback masters

A prototype SMA actuator met the space and weight limitations of the master (Exos DHM™) and provided adequate reactive force feedback to the operator and had a low force/weight ratio.


In this paper, the application of Rapid Prototyping in the fabrication of a robotic hand is presented. Using the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX,

Shape memory alloy actuated robot prostheses: initial experiments

The objectives of a project are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability through the use of shape memory alloy (SMA) artificial muscles as actuators.

A new inter-phalangeal actuator for dexterous micro-grippers

This paper presents a shape memory alloy (SMA) actuator aimed to be integrated in the phalanx of a dexterous micro-gripper and shows the open loop results of this device.

NTU Hand: A New Design of Dexterous Hands

A new five-finger robot hand (NTU hand) with seventeen degrees offreedom (DOF) is developed in this paper. In contrast to traditional tendon-driven robots, the NTU hand has an uncoupled configuration

Rapid prototyping of robotic systems

  • J. WonK. D. LaurentisC. Mavroidis
  • Materials Science
    Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
The application of rapid prototyping in fabricating nonassembly robotic systems is presented and the designs of component joints were used to fabricate the articulated structure of experimental prototypes for two robotic systems.

A biomimetic controller for a multifinger prosthesis.

The results demonstrate the feasibility of restoring some degree of finger dexterity by noninvasive sensing of extrinsic tendons by way of transducing volitional signals for individual "phantom" fingers.

B-Spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination