A self-sensing microgripper module with wide handling ranges

Chao Chieh Lan, Che Min Lin, Chen Hsien Fan

Research output: Contribution to journalArticlepeer-review

70 Citations (Scopus)


A compliant two-fingered microgripper is designed, fabricated, and demonstrated. To mimic human finger actuation, the proposed finger is distributively actuated by a shape memory alloy (SMA) wire. An SMA-actuated finger model is presented to predict SMA strain and finger motion given its contraction force. Based on this model, the finger shape and SMA wire dimension are optimally designed. The gripper is shown to have a wide handling range, high mechanical advantage, and sufficient out-of-plane stiffness; thus, it can accommodate objects of various sizes and weights. To control its motion, the SMA contraction force is estimated by using the proposed force to electrical resistance model. Gained from the simple driving electronics and self-sensing of SMA, the fabricated gripper can be made compact and lightweight. Finally, a self-powered gripper module is attached to a robot arm to perform several illustrative manipulations.

Original languageEnglish
Article number5373865
Pages (from-to)141-150
Number of pages10
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
Publication statusPublished - 2011 Feb

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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