A lightweight prosthetic hand with 19-DOF dexterity and human-level functions
文献类型：期刊论文
| 作者 | Yang, Hao5; Tao, Zhe5; Yang, Jian4; Ma, Wenpeng5; Zhang, Haoyu5; Xu, Min5; Wu, Ming3; Sun, Shuaishuai5; Jin, Hu5; Li, Weihua2 |
| 刊名 | NATURE COMMUNICATIONS
 |
| 出版日期 | 2025-01-22 |
| 卷号 | 16期号:1页码:13 |
| DOI | 10.1038/s41467-025-56352-5 |
| 通讯作者 | Sun, Shuaishuai(sssun@ustc.edu.cn) ; Jin, Hu(jhrdsp@ustc.edu.cn) ; Wang, Liu(wangliu05@ustc.edu.cn) ; Zhang, Shiwu(swzhang@ustc.edu.cn) |
| 英文摘要 | A human hand has 23-degree-of-freedom (DOF) dexterity for managing activities of daily living (ADLs). Current prosthetic hands, primarily driven by motors or pneumatic actuators, fall short in replicating human-level functions, primarily due to limited DOF. Here, we develop a lightweight prosthetic hand that possesses biomimetic 19-DOF dexterity by integrating 38 shape-memory alloy (SMA) actuators to precisely control five fingers and the wrist. The prosthetic hand features real-time sensing of joint angles in each finger, feeding data into a control module for selectively heating or cooling SMA actuators in a closed-loop manner, mimicking the functioning of human muscles. Enabled by the high-power density of SMAs, the hand part (from the wrist to the fingertip) only weighs 0.22 kg, much lower than existing products. We also integrate an onboard power management module that provides electricity for operating the entire system. In addition to 33 standard grasping modes, this prosthetic hand supports 6 advanced grasping modes designed for enhanced dexterity evaluation, expanding the range of achievable ADLs for amputees while facilitating standard prosthesis function tests and validation in real-world scenarios. This innovation offers a significant advancement in prosthetic hand functions, promising improved quality of life for users. |
| 分类号 | 一类 |
| WOS关键词 | SYNERGIES |
| 资助项目 | National Natural Science Foundation of China (National Science Foundation of China)[U21A20119] ; National Natural Science Foundation of China (National Science Foundation of China)[62473353] ; National Natural Science Foundation of China (National Science Foundation of China)[12272369] ; National Natural Science Foundation of China[202203a07020016] ; Anhui Provincial Major Science and Technology Project |
| WOS研究方向 | Science & Technology - Other Topics |
| 语种 | 英语 |
| WOS记录号 | WOS:001404862500014 |
| 资助机构 | National Natural Science Foundation of China (National Science Foundation of China) ; National Natural Science Foundation of China ; Anhui Provincial Major Science and Technology Project |
| 其他责任者 | Sun, Shuaishuai ; Jin, Hu ; Wang, Liu ; Zhang, Shiwu |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/98267]  |
| 专题 | 力学研究所_非线性力学国家重点实验室 |
| 作者单位 | 1.Chinese Acad Sci, Inst Mech, State Key Lab Nonlinear Mech, Beijing 100190, Peoples R China 2.Univ Wollongong, Sch Mech Mat Mechatron & Biomed Engn, Wollongong, NSW 2522, Australia; 3.Univ Sci & Technol China, Affiliated Hosp USTC 1, Div Life Sci & Med, Hefei 230001, Anhui, Peoples R China; 4.AnHui Univ, Sch Elect Engn & Automat, Hefei 230039, Anhui, Peoples R China; 5.Univ Sci & Technol China, Inst Humanoid Robots, Sch Engn Sci, Hefei 230026, Anhui, Peoples R China; |
| 推荐引用方式 GB/T 7714 | Yang, Hao,Tao, Zhe,Yang, Jian,et al. A lightweight prosthetic hand with 19-DOF dexterity and human-level functions[J]. NATURE COMMUNICATIONS,2025,16(1):13. |
| APA | Yang, Hao.,Tao, Zhe.,Yang, Jian.,Ma, Wenpeng.,Zhang, Haoyu.,...&Zhang, Shiwu.(2025).A lightweight prosthetic hand with 19-DOF dexterity and human-level functions.NATURE COMMUNICATIONS,16(1),13. |
| MLA | Yang, Hao,et al."A lightweight prosthetic hand with 19-DOF dexterity and human-level functions".NATURE COMMUNICATIONS 16.1(2025):13. |
入库方式： OAI收割
来源：力学研究所
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