Robust Feedback Control Design of Underactuated Robotic Hands with Selectively Lockable Switches for Amputees

Abstract

In recent years, reproduction of human mechanical hand with upgraded abilities is one of the major concerns. This paper addresses the problems of underactuated robotic hand with low cost design as it avoids electromyogram (EMG) sensors. The main goal is to balance the hand in the way, like grabbing, speed, and power, and provide a more robust and cost effective solution. All fingers have some mechanical consistency for picking up objects in a better way. A Flex sensor is attached to all fingers and it is interfaced with a computer using Arduino UNO microcontroller. The sensor aids the arm in three different directions: at first it senses whether an object is grasped or not. In the second step, it determines the coefficient of friction between the objects. Finally it grasps the object and stops. One of the primary issues of prosthetic hand is to have the capacity to satisfy every detail of torque, speed, and latency. In this research, we have developed a model of robotic hand with some modifications. The adaptability of grasping is compared with the degree of freedom (DOF) along with the quantity of fingers. We are controlling our hands via sensors based signal controlling system. The idea is to design a robotic hand, which has low cost, is easy to use, and is light in weight, which helps the amputees to use it with ease in their daily lives. The efficacy of the proposed control is verified and validated using simulations.

Development of a Passive Prosthetic Hand That Restores Finger Movements Made by Additive Manufacturing

“…Regarding the weight achieved in the prosthesis (less than 270 g) developed in this project, it is essential for the user in the adaptation process, to have prosthetic devices that have the ability to combine mechanical strength and low weight, being extremely important factors in the rehabilitation process. Thus, having a polymeric raw material for use in the three-dimensional printing process, such as PETG, which, despite being a light input, has values for printing with 25% infill, having density of 1.27 g/cm 3 , yield stress of 14.19 MPa, maximum tension of 20.68 MPa, and modulus of elasticity of 552.54 MPa.…”

“…The prosthesis can be functional or aesthetic, its main function, especially the hand, is to make a functional contribution to the user's manipulation ability, that is, provide the execution of activities that if it were not for the use of the device would not be possible to be performed efficiently and usefully. In addition, the prostheses also meet an aesthetic aspect in order to give a good appearance in the region of the removed limb [2][3][4][5]. Figure 1 shows some existing prostheses.…”

“…Figure 1 shows some existing prostheses. [2], (b) hand gesture robot [3], (c) a low-cost 3d-printed prosthetic hand [4], (d) the world's first 3D-printed upper-extremity prosthesis device [5].…”