Development of new generation prosthetic hands using innovative self-perceivable fast-responsive artificial muscles and adaptive magnetorheological exoskeletons
| Project/Area Number |
20K14688
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Tohoku University |
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Principal Investigator |
Sun Shuaishuai 東北大学, 未来科学技術共同研究センター, 助教 (00847915)
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| Project Period (FY) |
2020-04-01 – 2021-03-31
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| Project Status |
Discontinued (Fiscal Year 2020)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2021: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2020: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | prosthetic hand / magnetorheological / shape memory alloy / liquid metal / Magnetorheological / Prosthetic hands / Artificial muscles / Exoskeletons |
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| Outline of Research at the Start |
The new soft prosthetic hand will respond quickly, be capable of self-perceiving external force and possess large load operating capability. The LMMRE has much higher thermal conductivity than other elastomers and its resistant is sensitive to its deformation, thus, the new artificial muscle built with SMA and LMMRE will response much quicker and possess the toughing and feeling capabilities. As the second key component, this smart joint will provide adaptability to allow the hand bending and also to retain the desired configuration when it operates heavy load.
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| Outline of Annual Research Achievements |
This project aims to develop an innovative prosthetic hand using magnetorheological (MR) and shape memory alloy (SMA) technologies. The new finger consists of the LMMRE-SMA based artificial muscle and the skeleton system with adaptive joints. The LMMRE-SMA artificial muscles have been designed using the SMA wires and the liquid metal-filled magnetorheological elastomer (LMMRE), which is used to provide bending force for the finger. With the employment of the LMMRE-SMA artificial muscles, the new soft prosthetic hand will respond quickly, be capable of self-perceiving external force. The self-perceiving capability of the finger to measure the holding or toughing force have been characterized. The self-perceiving response of the new artificial muscle to the wind flow, water follow and its resolution has been tested as well. The resolution of the finger self-perception capability is 0.02N. The detailed structure of the new finger exoskeleton is designed. This project innovatively designed an MRF-filled bearing for the rotary joint to realize large torque-volume ratio. The distribution of the magnetic field in the joint has been carefully analyzed using COMSOL software to improve the joint design. The finger has been prototyped after the design and optimization. Also, a testing rig has been built to test the performance of the MR joint. The load holding performance of the finger has been tested to demonstrate the effectiveness of the MRF joints.
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Report
(1 results)
Research Products
(3 results)
