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Bio-Mechatronic Hand with SCP Actuator Muscle

An Artificial hand is said to be the one which is capable of fulfilling all the necessary functionalities of a human hand. It can be wearable by the user which means that it can be perceived as part of the natural body and should replicate sensory-motor capabilities of the natural hand. However such an ideal Bionic prosthetics is still far from reality. This paper attempts a design and fabrication of a noble artificial hand based on a ‘bio-mechatronic’ and cybernetic approach. The paper is aimed at providing ‘natural’ sensory-motor coordination, by integrating bio-mimetic mechanism, force and position sensors, actuators and control and by interfacing the hand with the peripheral nervous system. This idea can be designed and fabricated as a first-hand prototype and aimed at increasing the grasping force of the hand while retaining the main positive characteristic of previous designs. The new hand architecture value will be based on under actuated mechanism comprising of DC Motor and Super coiled Polymer. The hand will have around 9 independent degree of freedom and aim to generate a grasping force of about 30 N. Commercially available prosthetic devices such as Otto Bock sensor hand as well as multifunctional hand designs are far from providing the grasping abilities of the human hand. Keywords— Bio-Mechatronic, Super Coiled Polymer, Robotics, Artificial muscle, Arduino, Electro Myography