Abstract
AbstractCompared to transmission systems based on shafts and gears, tendon-driven systems offer a simpler and more dexterous way to transmit actuation force in robotic hands. However, current tendon fibers have low toughness and suffer from large friction, limiting the further development of tendon-driven robotic hands. Here, we report a super tough electro-tendon based on spider silk which has a toughness of 420 MJ/m3 and conductivity of 1,077 S/cm. The electro-tendon, mechanically toughened by single-wall carbon nanotubes (SWCNTs) and electrically enhanced by PEDOT:PSS, can withstand more than 40,000 bending-stretching cycles without changes in conductivity. Because the electro-tendon can simultaneously transmit signals and force from the sensing and actuating systems, we use it to replace the single functional tendon in humanoid robotic hand to perform grasping functions without additional wiring and circuit components. This material is expected to pave the way for the development of robots and various applications in advanced manufacturing and engineering.
Funder
National Research Foundation Singapore
Publisher
Springer Science and Business Media LLC
Subject
General Physics and Astronomy,General Biochemistry, Genetics and Molecular Biology,General Chemistry
Reference54 articles.
1. Craelius, W. The bionic man: restoring mobility. Science 295, 1018–1021 (2002).
2. Hochberg, L. R. et al. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm. Nature 485, 372–375 (2012).
3. Raspopovic, S. et al. Restoring natural sensory feedback in real-time bidirectional hand prostheses. Sci. Transl. Med. 6, 222ra219–222ra219 (2014).
4. Okada, T. Object-handling system for manual industry. IEEE Trans. Syst. Man Cybern. 9, 79–89 (1979).
5. Jacobsen, S., Iversen, E., Knutti, D., Johnson, R. & Biggers, K. Design of the Utah/MIT dextrous hand. In: Proceedings. 1986 IEEE International Conference on Robotics and Automation. IEEE (1986).
Cited by
94 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献