An Assistive Robotic Hand Based on Human Computer Interface (HCI) and Shape Memory Alloy (SMA) Actuator
Rehabilitation and assistive robotics is an emerging field of research where researchers are trying to develop tailored made robotic devices to address the challenge of disability. This paper presents a study on feedback controlled wearable robotic hand f
- PDF / 381,028 Bytes
- 10 Pages / 439.37 x 666.142 pts Page_size
- 102 Downloads / 172 Views
Abstract Rehabilitation and assistive robotics is an emerging field of research where researchers are trying to develop tailored made robotic devices to address the challenge of disability. This paper presents a study on feedback controlled wearable robotic hand for grasping. The proposed design is compact and sufficiently light to be used as an assistive hand. It is tendon driven and joint-less structure that has the potential to be used as an assistive device for stroke patients. The concept has been implemented for index and thumb fingers as a first prototype to enable grasping. Shape memory alloy (SMA) actuator and bias force mechanism are used for the purpose of hand’s flexion and extension. This paper describes the mechatronic design of the wearable hand, simulation, modeling, and development of the actuation unit and sensory system. Experiments of open loop controller were conducted to understand the hand characterization and grip force provided by index finger. A feedback controller (proportional controller) was implemented for this prototype with gripping force as the feedback parameter. It was observed that approximately 2.25 A current caused 4 cm displacement for SMA actuator. The maximum temperature of the SMA actuator was achieved to be 100 °C. The attainable gripping force was around 2 N for a load free finger. The conducted experiments showed promising results that encourages further development on this.
⋅
Keywords Assistive hand Shape memory alloy EMG SMA Wearable technology
⋅
⋅
⋅
Electromyography
⋅
A. Ba Hamid ⋅ M. Makhdoomi ⋅ T. Saleh (✉) Department of Mechatronics Engineering, International Islamic University Malaysia, 53100 Gombak, Malaysia e-mail: [email protected] © Springer Science+Business Media Singapore 2017 H. Ibrahim et al. (eds.), 9th International Conference on Robotic, Vision, Signal Processing and Power Applications, Lecture Notes in Electrical Engineering 398, DOI 10.1007/978-981-10-1721-6_42
385
386
A. Ba Hamid et al.
1 Introduction It is estimated in Malaysia that each hour, there are six people hit by stroke; the third prime reason of death and the main cause of disability [1]. Stroke is among the top causes of death in other ASEAN countries also, with death rate reaches up to 54.2 in Singapore per each 100 000 persons. In the world, fifteen million people suffer with a stroke each year; where five million of them die and the other five million spend their life disabled [2]. Hand conducts more than quarter of the human movements which are needed for daily life [3]. A person’s life will be in jeopardy if he or she cannot perform any action with hand due to disability. Hand’s movement is complicated and multifunctional. It also works as a sensory instrument to feel pressure, temperature etc. The fingertip consists of so many nerves that make it the richest source of tactile sensors [4]. In robotics, great progress has already been made to develop artificial hand mostly for industrial purpose. Many researchers are working in this field. Some examples of these hands are Utah/MIT
Data Loading...
