Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim

A compact and lightweight biomimetic robotic finger with dua degrees of freedom which functions closely to a biological finger has been developed. The focus is the mechatronic design of a new hybrid mechanism for the actuation of the finger joints. The hybrid mechanism consists of a DC Micromotor an...

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Main Author:	Abu Kasim, Mohamad Amlie
Format:	Thesis
Language:	English
Published:	2014
Subjects:	Orthopedic surgery
Online Access:	http://ir.uitm.edu.my/id/eprint/16288/ http://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf

id	uitm-16288
recordtype	eprints
spelling	uitm-162882019-02-20T06:45:27Z http://ir.uitm.edu.my/id/eprint/16288/ Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim Abu Kasim, Mohamad Amlie Orthopedic surgery A compact and lightweight biomimetic robotic finger with dua degrees of freedom which functions closely to a biological finger has been developed. The focus is the mechatronic design of a new hybrid mechanism for the actuation of the finger joints. The hybrid mechanism consists of a DC Micromotor and a Shape Memory Alloy (SMA) actuator. By using a DC Micromotor, a high response rate as well as comparable torque and speed can be achieved at the (Metacarpophalangeal) MCP joint. By using SMA to actuate the (Proximal Interphalangeal) PIP joint, the finger configuration has been miniaturized to anthropomorphically accurate size. A customized test jig has been developed for the calibration of SMA wires. A heat sink was integrated to the rig for the purpose of cooling of SMA wires. Furthermore, a Graphical User Interface (GUI) was develop using Visual Basic.NET to control the fingers in three basic modes of operation, i.e open posture (0°), grasp posture (45°) and closed posture (90°). A functioned prototype has been built to test the hybrid actuation mechanism and the outcomes have been satisfactory. 2014 Thesis NonPeerReviewed text en http://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf Abu Kasim, Mohamad Amlie (2014) Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim. Masters thesis, Universiti Teknologi MARA.
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
topic	Orthopedic surgery
spellingShingle	Orthopedic surgery Abu Kasim, Mohamad Amlie Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
description	A compact and lightweight biomimetic robotic finger with dua degrees of freedom which functions closely to a biological finger has been developed. The focus is the mechatronic design of a new hybrid mechanism for the actuation of the finger joints. The hybrid mechanism consists of a DC Micromotor and a Shape Memory Alloy (SMA) actuator. By using a DC Micromotor, a high response rate as well as comparable torque and speed can be achieved at the (Metacarpophalangeal) MCP joint. By using SMA to actuate the (Proximal Interphalangeal) PIP joint, the finger configuration has been miniaturized to anthropomorphically accurate size. A customized test jig has been developed for the calibration of SMA wires. A heat sink was integrated to the rig for the purpose of cooling of SMA wires. Furthermore, a Graphical User Interface (GUI) was develop using Visual Basic.NET to control the fingers in three basic modes of operation, i.e open posture (0°), grasp posture (45°) and closed posture (90°). A functioned prototype has been built to test the hybrid actuation mechanism and the outcomes have been satisfactory.
format	Thesis
author	Abu Kasim, Mohamad Amlie
author_facet	Abu Kasim, Mohamad Amlie
author_sort	Abu Kasim, Mohamad Amlie
title	Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
title_short	Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
title_full	Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
title_fullStr	Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
title_full_unstemmed	Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim
title_sort	development of hybrid actuation mechanism for prosthetic finger / mohamad amlie abu kasim
publishDate	2014
url	http://ir.uitm.edu.my/id/eprint/16288/ http://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf
first_indexed	2023-09-18T22:55:44Z
last_indexed	2023-09-18T22:55:44Z
_version_	1777417840901488640

Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim

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