| 研究実績の概要 |
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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