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Volume 8
Issue 3
10.3390/act8030058
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Article

Soft Driving Epicyclical Mechanism for Robotic Finger

by
Jose Ramirez
*,
Astrid Rubiano
and
Paola Castiblanco
Industrial and Mechatronic Departament, Universidad Militar Nueva Granada, Km 2 de la vía Cajicá-Zipaquirá, Cajicá 250547, Colombia
*
Author to whom correspondence should be addressed.
Actuators 2019, 8(3), 58; https://doi.org/10.3390/act8030058
Submission received: 2 April 2019 / Revised: 25 June 2019 / Accepted: 19 July 2019 / Published: 29 July 2019
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Abstract

Nowadays, the development or improvement of soft actuation mechanisms is a crucial topic for the achievement of dexterous manipulation using. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.
Keywords: actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy actuation and driving mechanism; soft driving epicyclical mechanism; shape memory alloy

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MDPI and ACS Style

Ramirez, J.; Rubiano, A.; Castiblanco, P. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators 2019, 8, 58. https://doi.org/10.3390/act8030058

AMA Style

Ramirez J, Rubiano A, Castiblanco P. Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators. 2019; 8(3):58. https://doi.org/10.3390/act8030058

Chicago/Turabian Style

Ramirez, Jose, Astrid Rubiano, and Paola Castiblanco. 2019. "Soft Driving Epicyclical Mechanism for Robotic Finger" Actuators 8, no. 3: 58. https://doi.org/10.3390/act8030058

APA Style

Ramirez, J., Rubiano, A., & Castiblanco, P. (2019). Soft Driving Epicyclical Mechanism for Robotic Finger. Actuators, 8(3), 58. https://doi.org/10.3390/act8030058

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