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Commenced in January 2007 Frequency: Monthly Edition: International Publications Count: 29016


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3564
Development of UiTM Robotic Prosthetic Hand
Abstract:
The study of human hand morphology reveals that developing an artificial hand with the capabilities of human hand is an extremely challenging task. This paper presents the development of a robotic prosthetic hand focusing on the improvement of a tendon driven mechanism towards a biomimetic prosthetic hand. The design of this prosthesis hand is geared towards achieving high level of dexterity and anthropomorphism by means of a new hybrid mechanism that integrates a miniature motor driven actuation mechanism, a Shape Memory Alloy actuated mechanism and a passive mechanical linkage. The synergy of these actuators enables the flexion-extension movement at each of the finger joints within a limited size, shape and weight constraints. Tactile sensors are integrated on the finger tips and the finger phalanges area. This prosthesis hand is developed with an exact size ratio that mimics a biological hand. Its behavior resembles the human counterpart in terms of working envelope, speed and torque, and thus resembles both the key physical features and the grasping functionality of an adult hand.
Digital Object Identifier (DOI):

References:

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[12] Beng Guey Lau, "An Intelligent Prosthetic Hand using Hybrid Actuation and Myoelectric Control," Degree of Doctor of Philosophy, The University of Leeds School of Mechanical Engineering, October 2009.
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[19] C. Y. Low, M. A. A. Kasim, R. Jaafar & A. Jaffar, "Towards Biomimetic Actuation in Prostheses using Shape Memory Alloy," 3rd International Conference on Mechanical and Manufacturing Engineering 2012.
[20] Dahiya, R. S., Giorgio Metta, M. V., & Sandini, G., "Tactile Sensing- From Humans to Humanoids", IEEE Transactions on Robotics, Vol. 26, No. 1, 2010
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[23] http://www.peratech.com/qtc-material.html.
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