Herein, we report a lightweight manipulator with potential application as a prosthetic finger. Our design features lightweight construction using low cost actuators. To reduce power consumption, force and motion actuation are separated. Low cost miniature DC motors provide motion for the digit, while a magnetorheological fluid piston acts as a force brake. This combination of actuators improves efficiency and reduces weight. Control is provided by networked low cost microcontrollers, and is separated into high level coordination and low level position control. The end device will be low cost, efficient, and lightweight with low failure cost and easy substitution of parts for customization.
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