International Journal of Integrated Engineering, Vol 3 No. 2 (2011) p
47-54
Development of Artificial Hand Gripper by using Microcontroller A. M. Mohd ~ l i " ~ 'A. * , J. M. Wahi, R. ~ r n b a 1 2and ' ~ M. M. Abdul ~ a r n i l " ~
' Department of Electronics Engineering, ' Department of Computer Engineering, Modeling and Simulation Research Laboratory, Faculty of Electrical and Elechonics Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, Johor, MALAYSIA Received 1 March 2011; accepted 30 October 201 1, available online 24 December 2011
1. Introduction In science, the definition of "gripper" is subsystems of handling mechanisms which provide temporary contact with the object to be grasped. They ensure the position and orientation when carrying and joining the object to the handling equipment. Prehension is achieved by force producing and form matching elements. The term "gripper" is also used in cases where no actual grasping, hut rather holding of the object as in vacuum suction where the retention force can act on a point, line or surface [I]. In another study, a new prosthetic hand is being tested at the Orthopedic University Hospital in Heidelberg Grip which functions almost like a natural hand. It can hold a credit card, use a keyboard with the index finger, and lift a bag weighimg up to 20 kg. It's the world's first commercially available prosthetic hand that can move each finger separately and has an outstanding range of grip configurations. The 4-LIMB Hand" is controlled by a unique, highly intuitive control system that uses a traditional two input "Myoelectric" (muscle signal) to open and close the hand's [2]. The consrmction of the artificial hand gripper which is each individual powered finger can he quickly removed by simply removing one screw. Thus, the developed prosthetics can easily swap out fingers which require servicing and therefore patients can return to their everyday lives after a short visit to the clinic [3-41. A three fingered, multi jointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The *Corresponding author:
[email protected] Publ~sher.All rieht reserved.
2011 UTHM
gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behavior of the fingcra and some experiences with the grasping and manipulation experiments using the presented system are reported [5]. Touch Bionics is a leading developer of advanced upperlimb prosthetics (ULP). One of the two products now commercially available from this company, are the "i-LIMB Hand", is a first to market prosthetic device with five individually powered digits [6-71. This artificial limb looks and acts like a real human hand and represents a generational advance in bionics and patient care. This later concept will be followed as in this study for the development of a artificial hand gripper [8-101. The aim of this research is to assist handicap individual in providing them with an enhanced version prosthetics that is economical and affordable.
2.
Method
The development of this project involves the designing of a sensor equipped hand glove and a prosthesis multifinger gripper. The prosthesis multi-finger gripper will move based on a subject finger movement using fhe hand glove. The proposed multi-finger gripper system will be based on
A. M. Mohd Ali et al , Int 1, Of Integrated Engineering Vol 3 No
The quality of the force feedback is strongly affected by the maximum torque measurable by the Hand gripper and the performance of the force controller.
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