Design and Optimization of Coupled and Self-Adaptive of An Underactuated Robotic Hand Using Particle Swarm Optimization

Salman, Hasan; Bakhy, Sadeq H.; Hamzah, Mohsin Noori

doi:10.1088/1757-899x/928/2/022153

Cited by 5 publications

(4 citation statements)

References 17 publications

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“…They're frequently employed in precise applications like industrial machines or medical equipment. Each type of actuator has advantages and disadvantages, and the choice of the actuator will rely on the specific needs of the application [16,[17][18]. Table 1 summarizes a comparison of different actuators.…”

Section: Servo Electric Ball Screw Cylinder Actuator Vs Pneumatic And...mentioning

confidence: 99%

A novel design of smart knee joint prosthesis for above-knee amputees

KAMEL¹,

Hamzah²,

Abdulateef³

et al. 2023

FME Transactions

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Amputees suffer greatly from lower limb amputation. A novel smart knee joint prosthesis was constructed in this research to allow the amputee to achieve regular daily movement, such as walking, standing, and ascending/descending stairs. This prosthesis employs sensors, actuators, and a mechanical system to replicate the functioning of a natural limb. As a result of the unique mechanical and electrical components employed herein to boost performance, metabolic energy is lowered. Here, a ball screw is employed, which has been determined to be the most efficient means of achieving linear motion; its precision and efficiency range from 90% to 100%. It is quieter and more efficient than a hydraulic or pneumatic system. An electromechanical linear actuator (servo cylinder) is used with an actuator control system and integrated Phase Index - Field-Oriented Control. It maintains and self-calibrates the needed position with high precision when power or backup power is unavailable. The angle of flexion achieved in this design is 120º. The gait analysis revealed that the current prosthesis could imitate the biomechanics of the normal joint with no difficulty at varied speeds when tested on an amputee (110 kg). Furthermore, it may function efficiently as a passive when power is unavailable, including the capacity to move smoothly throughout the swing phase (high accuracy through deceleration and acceleration). The current active knee joint is lightweight (2869 grams), and the cost has been greatly reduced.

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Section: Servo Electric Ball Screw Cylinder Actuator Vs Pneumatic And...mentioning

confidence: 99%

A novel design of smart knee joint prosthesis for above-knee amputees

KAMEL¹,

Hamzah²,

Abdulateef³

et al. 2023

FME Transactions

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show abstract

“…While researchers have optimized the design of underactuated non-anthropomorphic grippers on many instances [10,11,12,13,14], this form of optimization is far less prevalent among anthropomorphic hands. Recently, there has been research on optimization of anthropomorphic hand-design for fully actuated hands based on a novel performance index for its kinematic properties referred to as "interactivity of fingers" [15].…”

Section: Related Workmentioning

confidence: 99%

Design optimization of an underactuated tendon-driven anthropomorphic hand based on grasp quality measures

Basumatary

Hazarika

2022

Robotica

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For an underactuated anthropomorphic hand, apart from replicating the geometry, biomimicry of human counterpart requires design based on functional biomimesis. Optimization based on grasping capabilities to generate a stable grasp for underactuated anthropomorphic hands has been a recent focus. In this article, we optimize the actuation parameters of the underactuated mechanism based on grasp quality measures. Optimization of the hand design parameters like pulley radii, spring stiffnesses, and pre-load angles was undertaken based upon the grasp robustness metric. A quasi-static model based on a soft synergistic compliant grasp of the underactuated hand is formalized. Numerical simulations based on evolutionary strategies are applied to the grasp model to optimize the underactuated parameters. Finally, validation of the results based on the grasp wrench space is presented. The results show that an anthropomorphic hand with an optimized underactuated mechanism performs better grasps.

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“…The meshing of fourth model with total number of elements (84611) and total number of nodes (143518) were selected due to its accuracy compared with the other and the good convergence satisfying by this meshing model. The term load refers to the minimal state (supports and constraints) and the loads imposed externally and internally [75][76][77][78][79][80][81][82][83]. The ANSYS Workbench v16.1 loads are set on the AFO heel board.…”

Section: Numerical Analysis Of Afo Modelmentioning

confidence: 99%

Boosting Mechanical Properties of Orthoses - Foot Ankle by Adding Carbon Nanotube Particles

Jeryo¹,

Chiad

Abbod

2021

MSF

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In this process, optimum laminating properties were used in producing prosthesis and orthoses were researched and selected based on high yield, ultimate stresses, stresses of bending and fatigue properties. The process of the optimal selection is the Response Surface Methodology (RSM), which has been used to reach two parameters: reinforcement perlon fiber and percent of multi-strand carbon MWCNT nanotube combined with the matrix resin. The response surface methodology is a combination of mathematician and statistic techniques which are used for experimental model building and analysis of problems. This technique revealed 13 separate laminations samples with a percentage of separate Perlon layers No. and MWCNT Wt %. Tests were conducted for all lamination materials as defined in RSM methods and rendered by vacuum system, including fatigue tests for the ideal laminating material as opposed to laminations developed in the prior study (three Tensile test, Bending test and Fatigue tests according to the ASTM D638 and D790 respectively). Tests from the system version 10.0.2 of Design Expert found lamination (10 perlon layers and 0.75% of MWCNTs) to be the best according to overall yield, ultimate and bending loads in the 12 other laminations. Fatigue eventually revealed that constraints were applied to the stamina tension (2,66, 1,66) for optimum lamination, relative to ten perlon lamination layers and 424 lamination respectively.

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Design and Optimization of Coupled and Self-Adaptive of An Underactuated Robotic Hand Using Particle Swarm Optimization

Cited by 5 publications

References 17 publications

A novel design of smart knee joint prosthesis for above-knee amputees

A novel design of smart knee joint prosthesis for above-knee amputees

Design optimization of an underactuated tendon-driven anthropomorphic hand based on grasp quality measures

Boosting Mechanical Properties of Orthoses - Foot Ankle by Adding Carbon Nanotube Particles

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