The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System

In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embed...

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Bibliographic Details
Main Authors: Mahmoud Tavakoli, Rafael Batista, Lucio Sgrigna
Format: Article
Language:English
Published: MDPI AG 2015-12-01
Series:Actuators
Subjects:
twisted string
prosthetic hand
soft robot
soft hand
soft bionics
Online Access:http://www.mdpi.com/2076-0825/5/1/1
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spelling doaj-98862dc2193f4302a9af9a826686e8512020-11-24T23:27:32ZengMDPI AGActuators2076-08252015-12-0151110.3390/act5010001act5010001The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation SystemMahmoud Tavakoli0Rafael Batista1Lucio Sgrigna2Institute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalInstitute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalInstitute of Systems and Robotics, University of Coimbra, 3030 Coimbra, PortugalIn this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.http://www.mdpi.com/2076-0825/5/1/1twisted stringprosthetic handsoft robotsoft handsoft bionics
collection DOAJ
language English
format Article
sources DOAJ
author Mahmoud Tavakoli
Rafael Batista
Lucio Sgrigna
spellingShingle Mahmoud Tavakoli
Rafael Batista
Lucio Sgrigna
The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
Actuators
twisted string
prosthetic hand
soft robot
soft hand
soft bionics
author_facet Mahmoud Tavakoli
Rafael Batista
Lucio Sgrigna
author_sort Mahmoud Tavakoli
title The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_short The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_full The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_fullStr The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_full_unstemmed The UC Softhand: Light Weight Adaptive Bionic Hand with a Compact Twisted String Actuation System
title_sort uc softhand: light weight adaptive bionic hand with a compact twisted string actuation system
publisher MDPI AG
series Actuators
issn 2076-0825
publishDate 2015-12-01
description In this paper, we present the design and development of the UC-Softhand. The UC Softhand is a low cost, Bionic and adaptive hand that takes advantage of compliant joints. By optimization of the actuation strategy as well as the actuation mechanism, we could develop an anthropomorphic hand that embeds three actuators, transmission mechanisms, controllers and drivers in the palm of the hand, and weighs only 280 g, making it one of the lightest bionic hands that has been created so far. The key aspect of the UC Softhand is utilization of a novel compact twisted string actuation mechanism, that allows a considerable weight and cost reduction compared to its predecessor.
topic twisted string
prosthetic hand
soft robot
soft hand
soft bionics
url http://www.mdpi.com/2076-0825/5/1/1
work_keys_str_mv AT mahmoudtavakoli theucsofthandlightweightadaptivebionichandwithacompacttwistedstringactuationsystem
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