In this paper, a new biomimetic tendon-driven actuation system for prosthetic and wearable
robotic hand applications is presented. It is based on the combination of compliant tendon
cables and one-way shape memory alloy (SMA) wires that form a set of agonist–antagonist
artificial muscle pairs for the required flexion/extension or abduction/adduction of the finger
joints. The performance of the proposed actuation system is demonstrated using a 4 degree-
of-freedom (three active and one passive) artificial finger testbed, also developed based on …

In this paper, the dynamics and biomimetic control of an artificial finger joint actuated by two
opposing one-way shape memory alloy (SMA) muscle wires that are configured in a double
spring-biased agonist–antagonist fashion is presented. This actuation system, which was
described in Part I, forms the basis for biomimetic tendon-driven flexion/extension and
abduction/adduction of the artificial finger. The work presented in this paper centres on
thermomechanical modelling of the SMA wire, including both major and minor hysteresis …