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Design of a hybrid-actuated finger prosthesis with tactile sensing

The mechatronic design of a biomimetic finger prosthesis driven by a new hybrid mechanism is presented. The finger joints are driven by a miniature direct current (DC) motor and a shape memory alloy (SMA) wire. By using a miniature DC motor, a high response rate as well as comparable torque and speed can be achieved at the metacarpophalangeal (MCP) joint. By using SMA to actuate the proximal interphalangeal (PIP) joint, the finger configuration has been miniaturized to anthropomorphic size and weight. Kinematic analysis shows that the finger design can achieve the range of movements of the human counterpart and hence closely resemble its functionality. In order to assess the performance characteristic of the SMA wire, the relationship between the generated displacement and the contraction time has been tested for varying energizing currents. Furthermore, a comparison has been made to ascertain the viability of the conductive rubber sheet for tactile sensing compared to the quantum tunneling composite (QTC) pills.