2 April 2015 Nylon-muscle-actuated robotic finger
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Abstract
This paper describes the design and experimental analysis of novel artificial muscles, made of twisted and coiled nylon fibers, for powering a biomimetic robotic hand. The design is based on circulating hot and cold water to actuate the artificial muscles and obtain fast finger movements. The actuation system consists of a spring and a coiled muscle within a compliant silicone tube. The silicone tube provides a watertight, expansible compartment within which the coiled muscle contracts when heated and expands when cooled. The fabrication and characterization of the actuating system are discussed in detail. The performance of the coiled muscle fiber in embedded conditions and the related characteristics of the actuated robotic finger are described.
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Lianjun Wu, Monica Jung de Andrade, Richard S. Rome, Carter Haines, Marcio D. Lima, Ray H. Baughman, Yonas Tadesse, "Nylon-muscle-actuated robotic finger", Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94310I (2 April 2015); doi: 10.1117/12.2084902; https://doi.org/10.1117/12.2084902
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