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 for grasping. The proposed design is compact...

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Main Authors:	Ba Hamid, Alala M., Makhdoomi, Mohatashem R., Saleh, Tanveer
Format:	Conference or Workshop Item
Language:	English English English English
Published:	Springer 2017
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf

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recordtype	eprints
spelling	iium-528232019-08-17T13:45:06Z http://irep.iium.edu.my/52823/ An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer T Technology (General) 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 jointless 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. Springer 2017 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf application/pdf en http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf application/pdf en http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf Ba Hamid, Alala M. and Makhdoomi, Mohatashem R. and Saleh, Tanveer (2017) An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator. In: 9th International Conference on Robotic, Vision, Signal Processing and Power Applications Empowering Research and Innovation, 2nd -3rd February 2016, Penang, Malaysia. https://link.springer.com/chapter/10.1007/978-981-10-1721-6_42 10.1007/978-981-10-1721-6_42
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English English
topic	T Technology (General)
spellingShingle	T Technology (General) Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
description	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 jointless 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.
format	Conference or Workshop Item
author	Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer
author_facet	Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer
author_sort	Ba Hamid, Alala M.
title	An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
title_short	An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
title_full	An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
title_fullStr	An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
title_full_unstemmed	An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
title_sort	assistive robotic hand based on human computer interface (hci) and shape memory alloy (sma) actuator
publisher	Springer
publishDate	2017
url	http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf
first_indexed	2023-09-18T21:14:50Z
last_indexed	2023-09-18T21:14:50Z
_version_	1777411493114937344

An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator

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