document: A novel robot hand with embedded shape memory alloy actuators Describes the development of an active robot hand , which allows smooth and lifelike motions for anthropomorphic grasping and fine manipulations . An active robot finger 10 mm in outer diameter with a shape memory alloy -LRB- SMA -RRB- wire actuator embedded in the finger with a constant distance from the geometric centre of the finger was designed and fabricated . The practical specifications of the SMA wire and the flexible rod were determined on the basis of a series of formulae . The active finger consists of two bending parts , the SMA actuators and a connecting part . The mechanical properties of the bending part are investigated . The control system on the basis of resistance feedback is also presented . Finally , a robot hand with three fingers was designed and the grasping experiment was carried out to demonstrate its performance
doc_bio_tags: O O O O O B I I I I O O O O O B I I O O O O O B I O B I O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O
extractive_keyphrases: embedded shape memory alloy actuators lifelike motions anthropomorphic grasping fine manipulations active finger resistance feedback flexible rod active robot hand