Modeling and Control of Dielectric Actuator Enabled Prosthetic Finger

Abstract

Dielectric actuators (DEAs) are lauded for their inherent softness, lightweight composition, and remarkable flexibility. These qualities empower DEAs with a unique capacity for finely tuned control, rendering them exceptionally suited for facilitating human-robot interactions. Their integration into prosthetic fingers introduces a unique advantage, enabling both delicate precision through soft actuation and broader manipulation via rigid activation. This paper presents a physics-based model for a prosthetic finger driven by DEAs, an effort enhanced by incorporation of feedback control mechanisms utilizing a self-sensing approach. This work not only underscores the potential of DEAs in creating lifelike human prostheses with enhanced dexterity, but also underscores their role in expanding the horizons of robotics for augmented human capabilities.