Journal of Bionic Engineering (2024) 21:1174–1190 

A Self?sensing TSA?actuated Anthropomorphic Robot Hand

Chanchan Xu1,2 · Shuai Dong2 · Yifan Ma2 · Jingwei Zhan3,1 · Yucheng Wang1 · Xiaojie Wang1 

1 Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China

2 CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China

3 Institutes of Physical Science and Information Technology, Anhui University, Hefei 230601, China

Abstract

This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators (TSAs). The use of TSAs provides several advantages such as muscle-like structures, high transmission ratios, large output forces, high efciency, compactness, inherent compliance, and the ability to transmit power over distances. However, conventional sensors used in TSA-actuated robotic hands increase stifness, mass, volume, and complexity, making feedback control challenging. To address this issue, a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite (CPC). By measuring the resistance changes in the strain-sensing string, the bending angle of the robot hand's fngers can be estimated, enabling closed-loop control without external sensors. The developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with fve fngers, a palm, fve self-sensing TSAs, and a 3D-printed forearm. Experimental studies validate the self-sensing properties of the TSA and the anthropomorphic robot hand. Additionally, a real-time Virtual Reality (VR) monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing capabilities. This research contributes valuable insights and advancements to the feld of intelligent prosthetics and robotic end grippers.

Keywords Anthropomorphic robot hand · Twisted string actuator · Self-sensing · Conductive polymer composite · Virtual reality monitoring