1A1-B22 Development of Anthropomorphic Finger Joints Actuated by SMA

Abstract

In the near future, anthropomorphic arms, hands and fingers will be expected to accomplish sophisticated and dexterous manipulation. Then first, we design an anthropomorphic finger driven by SMA coil work out as antagonistic muscles consisted of a flexor muscle and an extensor muscle. In addition, the angles of the finger joints will be detected by several potentiometers incorporated. The output force from SMA coil is proportional to it's temperature, so we have shown that the output can be regulated by estimating the temperature of SMA coil from the one of a thermistor mounted on and it is possible to control the finger joint by actuating two SMA coils coordinately.