Prosthetic Hand with Two Modular Stimulation; Nylon-based Smart Actuators and Classical Actuator

In this project, a prosthetics hand has been designed and fabricated as a test bed for comparison between classic and smart actuators. Nowadays classic actuators are used in all commercial prosthetics while they have some disadvantages like their high weight. Also, disturbing sound is generated by their gearbox when they are actuated. Smart materials like Shape Memory Alloys (SMAs), coiled nylon actuators, etc. could be replaced by classic motors to overcome the af orementioned problems. Dynamixel AX-12a has been chosen as a classic actuator and coiled silver-coated nylon6.6 strings as a smart material to actuate a modular designed prosthetics hand to compare different important aspects of these actuators. They each will be placed on individual plate and added to the forearm to actuate the robotic prosthetics hand. It could be observed that in the cases of silence, absence of vibrations, and force to weight ratio the nylons play a better role and in the cases of force, ease of control, and working temperature the motors are better.Furthermore, preparing the nylons for exploitation in the prosthetics hand along with a current control circuit for nylons has been discussed

کلیدواژه ها:

prosthetic hand ، artificial muscles ، nylon actuators ، smart materials ، robotics