English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This paper describes a miniature robot finger which uses shape memory alloy as the actuator. Aiming at developing robot hands to perform human work instead of men, numerous research have been conducted. By miniaturizing robot hands, execution of more detailed work becomes possible. In developing miniature robot hands for dexterous manipulation, it is necessary to consider miniaturizing and simplification. The miniature robot finger proposed in this paper is driven by shape memory alloy (SMA) wires. The structure of the robot finger imitates the musculoskeletal system of humans, since SMA wires exhibit nonlinear features similar to human muscles. Highly precise position control of fingertip is performable by using SMA owing to its shape memory effect. Force control of the fingertip is performed by measuring the tension of the SMA wire. We used strain gages to measure tension. We confirmed that stiffness control of the finger joint can be conducted by controlling tension of the SMA simultaneously.

Development of a Miniature Robot Finger with a Variable Stiffness Mechanism Using Shape Memory Alloy