Design and Development of a Prosthetic Hand

Azad, Md. Abul kalam; Islam, Riazul

IUT Repository Home
→
Technical and Vocational Education (TVE)
→
Thesis
→
Undergraduate
→
2014
→
View Item

dc.contributor.author	Azad, Md. Abul kalam
dc.contributor.author	Islam, Riazul
dc.date.accessioned	2021-09-16T05:41:16Z
dc.date.available	2021-09-16T05:41:16Z
dc.date.issued	2014-11-15
dc.identifier.citation	1. Berns, K., Asfour, T., Dillmann, R., ―An Anthropomorphic Arm for Humanoid Service Robot‖, In IEEE International on Conference Robotics and Automation. (ICRA'99), Detroit, Michigan, May 10-15, 1999. 2. Fuller, J.L., ―Robotics: Introduction, Programming and Projects‖, 2nd edition, Prentice Hall, Columbus, Ohio. 3. Cutkosky, M.R., and McCormick, P., ―End Effecters and Tooling‖, Chapter 14.4- Robotics,in CRC Handbook of Mechanical Engineering, 14.24-14.32. 4. Butterfass, J., Hirzinger, G., Knoch, S., and Liu, H.,―DLR‘s Multisensory Articulated Hand Part I: Hard- and Software Architecture‖, In Proceedings of the 1998 International Conference on Robotics and Automation, Belgium, May 1998, pp 2081-2086. 5. Caffaz, A. and Cannat, G., ―The Design and Development of the DIST-Hand Dextrous Gripper‖, In Proceedings of the 1998 International Conference on Robotics and Automation, Belgium, May 1998,pp 2075-2080. 6. Mason, M.T., and Salisbury, J.K., ―Robot Hands and the Mechanics of Manipulation‖, MIT Press, Cambridge, Massachusetts, 1985. 7. Jacobsen, S.C., Iversen, E.K., Knutti, D.F., Johnson,R.T., and Biggers, K.B., ―Design of the Utah/MIT Dextrous Hand‖, In Proceedings of the 1986 International Conference on Robotics and Automation, San Francisco, 1986, pp 1520-1532. 8. Bicchi, A., ―Hands for Dexterous Manipulation and Powerful Grasping: A Difficult Road towards Simplicity‖, In IEEE International Conference on Robotics and Automation Workshop Notes: Workshop on Minimalism in Robot Manipulation, Minneapolis, MN, 1996. 9. Walker, I.D., ―Modeling and Control of Multi- fingered Hands: A Survey in Complex Robotic Systems‖, Lecture Notes in Control and Information Sciences Series, Springer-Verlag.London, 1998, pp 129-160. 10. Crawford, D.S., Blackmon, W.A., Pontefract, J.B.,and Street, R.H., ―Goldfinger: The Four-Fingered Dextrous Hand‖, MECH 408 Final Report, Rice University, April 1992. 11. Osswald, D., Wörn, H., ―Mechanical System and Control System of a Dexterous Robot Hand‖, In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2001. 12. Salisbury, J.K., ―Articulated Hands: Force Control and Kinematics Issues‖, PhD thesis, Stanford University, 1982. 13. Hirzinger, G., ―Mechatronik-Konzepte nicht nur fürdie Raumfahrt‖, Deusche Forschungsanstalt für Luft- und Raumfahrt, Hannover Messe, 1996. 14. Doersam, Th. and Dürrschmied, P., ―Compensationof friction in mechanical drives for a three fingered robot gripper‖, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Osaka, Japan, Nov. 1996. 15. Doersam, Th. and Fischer, Th., ―Aspects of Controlling a Multifingered gripper‖, In International Conference on Conventional and Knowledge-based Intelligent Electronic Systems, 1997.	en_US
dc.identifier.uri	http://hdl.handle.net/123456789/1007
dc.description	Supervised by Dr. Anayet Ullah Patwari, Professor, Department of Mechanical and Chemical Engineering(MPE), Islamic University of Technology (IUT), Board Bazar, Gazipur-1704, Bangladesh.	en_US
dc.description.abstract	An―ideal‖ upper limb prosthesis should be perceived as part of the natural body by the amputee and should replicate sensory-motor capabilities of the amputated limb. However, such an ideal ―cybernetic‖ prosthesis is still far from reality: current prosthetic hands are simple grippers with one or two degrees of freedom (DOF), which barely restore the capability of the thumb- index pinch. This paper describes the development of a prosthetic hand based on a ―biomechatronic‖ design. The proposed hand is designed to augment the dexterity of traditional prosthetic hands while maintaining approximately the same dimension and weight. Our approach is aimed at providing enhanced grasping capabilities and ―natural‖ sensory-motor coordination to the amputee, by integrating miniature mechanisms, actuators, and embedded control. A biomechatronic hand prototype with Five fingers and a total of six independent DOFs has been designed and fabricated. The paper is focused on the actuators system, which is based on miniature electromagnetic motors.	en_US
dc.language.iso	en	en_US
dc.publisher	Department of Technical and Vocational Education (TVE), Islamic University of Technology (IUT)	en_US
dc.subject	Biomechatronics, cybernetic hand, neural inter- face, prosthetic hand.	en_US
dc.title	Design and Development of a Prosthetic Hand	en_US
dc.type	Thesis	en_US