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Lightweight Prosthetic Hand with Five Fingers using SMA Actuator
Sungyoon Jung,Juhwan Bae,Inhyuk Moon 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper proposes a lightweight prosthetic hand with five fingers that are driven by contraction force of shape memory alloy (SMA). Each finger is composed of SMA-wire mechanism similar to the muscle-tendon structure of human. Finger flexion is performed by contraction force of SMA, but its extension is carried out by a restoring force of a spring mounted on the backside of finger. The developed hand has five fingers, but its total DOF is six due to an under-actuated mechanism. Each finger posture is achieved by control of the SMA length using the electric resistance characteristics of SMA. Therefore the developed hand is possible to perform dexterous hand motions such as tip grasp, precision grasp and lateral hip. Based on a statics analysis of finger mechanism, we estimate the hand grip force. In experiments, we measured the grip force and then compared it to the simulation results. As a result, the maximum grip force was 4.52N by the constant input force, 13N, when the MCP joint angle was 90 degrees.
Kim, Inhyuk,Woo, Kyoohee,Zhong, Zhaoyang,Ko, Pyungsam,Jang, Yunseok,Jung, Minhun,Jo, Jeongdai,Kwon, Sin,Lee, Seung-Hyun,Lee, Sungwon,Youn, Hongseok,Moon, Jooho The Royal Society of Chemistry 2018 Nanoscale Vol.10 No.17
<P>Recently, the demand for stretchable strain sensors used for detecting human motion is rapidly increasing. This paper proposes high-performance strain sensors based on Ag flake/Ag nanocrystal (NC) hybrid materials incorporated into a polydimethylsiloxane (PDMS) elastomer. The addition of Ag NCs into an Ag flake network enhances the electrical conductivity and sensitivity of the strain sensors. The intense localized heating of Ag flakes/NCs is induced by intense pulsed light (IPL) irradiation, to achieve efficient sintering of the Ag NCs within a second, without damaging the PDMS matrix. This leads to significant improvement in the sensor sensitivity. Our strain sensors are highly stretchable (maximum strain = 80%) and sensitive (gauge factor = 7.1) with high mechanical stability over 10 000 stretching cycles under 50% strain. For practical demonstration, the fabrication of a smart glove for detecting the motions of fingers and a sports band for measuring the applied arm strength is also presented. This study provides an effective method for fabricating elastomer-based high-performance stretchable electronics.</P>
가속수명시험을 통한 저변형 고내구 침탄강 적용 PTU의 신뢰성 평가에 관한 연구
정익재(Igjae Jung),안성범(Sungbum Ahn),장인혁(Inhyuk Jang) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11
In these days, the need for high durability products is increasing due to high performance of vehicles. To respond to this need, Hyndai-WIA is developing PTU applied with low-deformation high-durability carburizing steel(20CrSIMn6-3). PTU is one of the main components of a front-wheel drive-based 4WD vehicle and transmits a high torque from the transmission, so it is necessary to secure durability. In this study, through the accelerated life test, it was confirmed that the newly developed PTU satisfies the reliability target (300,000 km/R99/CL50) and the B1 life is improved compared to the existing mass-produced products.
Grip Force Modeling of a Tendon-driven Prosthetic Hand
Sung-yoon Jung,Inhyuk Moon 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper describes a grip force analysis of a tendon-driven prosthetic hand. The grip force is equivalent to tensile force transmitted by a link mechanism. Assuming that the tensile force to pull tendon is constant, the grip force according to the angle of MCP joint is analyzed by the statics. From experimental results, we show the maximum grip force of tendon-driven finger is 6N when the constant tensile force is 14N.
정성윤(Sungyoon Jung),박찬영(Chanyoung Park),배주환(Juhawn Bae),문인혁(Inhyuk Moon) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
This paper proposes a wearable interface for a tendon-driven robotic hand prosthesis. The proposed interface is composed of a dataglove to measure finger and wrist joint angle, and a micro-control board with a wireless RF module. The interface is used for posture control of the robotic hand prosthesis. The measured joint angles by the dataglove are transferred to the main controller via the wireless module. The controller works for directly controlling the joint angle of the hand or for recognizing hand postures using a pattern recognition method such as LDA and k-NN. The recognized hand postures in this study are the paper, the rock, the scissors, the precision grasp, and the tip grasp. In experiments, we show the performances of the wearable interface including the pattern recognition method.
Development of a Lightweight Prosthetic Hand with Tendon-driven Five Fingers
Sung-yoon Jung,Inhyuk Moon 한국재활복지공학회 2008 한국재활복지공학회 학술대회논문집 Vol.2008 No.11
This paper proposes a lightweight prosthetic hand with tendon-driven five fingers. Each finger is composed of a distal-middle phalange, a proximal phalange and a metacarpal bone, which are connected to a link mechanism. The finger flexion is a resultant motion by pulling a wire to serve as a tendon, but the finger extension is performed by an elastic mechanism composed of a restoration spring. The developed hand has six degrees of freedom. But its total weight is merely 400.72g. The hand performs various hand functions such as the grasping and the hand postures. From experimental results, we show that the proposed prosthetic hand is applicable to amputees as a prosthetic hand.
정성윤(Sungyoon Jung),문인혁(Inhyuk Moon) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.2
This paper proposes a biomimetic finger module to be used in a lightweight hand prosthesis. The finger module consists of finger skeleton and an actuator module driven by SMA (Shape Memory Alloy). The prototype finger module can perform flexion and extension motions; finger flexion is driven by a contraction force of SMA, but it is extended by an elastic force of an extension spring inserted into the finger skeleton. The finger motions are controlled by feedback of electric resistance of SMA because the finger module has no sensors to measure length and angle. Total weight of a prototype finger module is 30g. In experiments the finger motions and finger grip force are tested and compared with simulation results when a constant contraction force of SMA is given. The experimental results show that the proposed SMA-driven finger module is feasible to the lightweight hand prosthesis.
Control of IPMC-based Artificial Muscle for Myoelectric Hand Prosthesis
Lee Myoung-Joon,Jung Sung-Hee,Moon Inhyuk,Lee Sukmin,Mun Mu-Seong The Korean Society of Medical and Biological Engin 2005 의공학회지 Vol.26 No.5
This paper proposes an ionic polymer metal composite (IPMC) based artificial muscle to be applicable to the Myoelectric hand prosthesis. The IPMC consists of a thin polymer membrane with metal electrodes plated chemically on both faces, and it is widely applying to the artificial muscle because it is driven by relatively low input voltage. The control commands for the IPMC-based artificial muscle is given by electromyographic (EMG) signals obtained from human forearm. By an intended contraction of the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC-based artificial muscle. To obtain higher actuation force of the IPMC, the single layered as thick as $800[{\mu}m]$ or multi-layered IPMC of which each layer can be as thick as $178[{\mu}m]$ are prepared. As a result, the bending force was up to the maximum 12[gf] from 1[gf] by actuating the single layered IPMC with $178[{\mu}m]$, but the bending displacement was reduced to 6[mm] from 30[mm]. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle.