Finger prostheses are devices developed to\r\nemulate the functionality of natural human fingers. On\r\ntop of their aesthetic appearance in terms of shape, size\r\nand colour, such biomimetic devices require a high level\r\nof dexterity. They must be capable of gripping an object,\r\nand even manipulating it in the hand. This paper presents\r\na biomimetic robotic finger actuated by a hybrid\r\nmechanism and integrated with a tactile sensor. The\r\nhybrid actuation mechanism comprises a DC micromotor\r\nand a Shape Memory Alloy (SMA) wire. A customized\r\ntest rig has been developed to measure the force and\r\nstroke produced by the SMA wire. In parallel with the\r\nactuator development, experimental investigations have\r\nbeen conducted on Quantum Tunnelling Composite\r\n(QTC) and Pressure Conductive Rubber (PCR) towards\r\nthe development of a tactile sensor for the finger. The\r\nviability of using these materials for tactile sensing has\r\nbeen determined. Such a hybrid actuation approach aided\r\nwith tactile sensing capability enables a finger design as\r\nan integral part of a prosthetic hand for applications up to\r\nthe transradial amputation level.
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