Abstract: The simple, light and high power density SMA actuator holds much promise for the future of lightweight robotics and miniaturization. However, in almost all the design of existing robot hands using SMAAs, the actuating compon- ents are physically separated from the reversing components as well as the driving units are separated from the executing units, in result of complicated frames and inflexible moves. Therefore, the new type embedded SMAA is first presented. Consisting of an elastic rod with off-axis embedded linear SMA wires, the actuator could output force and displacement steadily through recoverable temperature circle. The deflection theory and general conclusions for actuating and controlling are establi- shed connecting with experiment results. Furthermore, an assembled flexible robot hand consisting of several ESMAAs is completed. The kinematics issue is also discussed in detail. Finally, the experimental grasping system with the three-finger-ed flexible robot hand above is developed.

Key words: ESMAA, Grasping, Hand, SMA