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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Bibliographic Details
Main Author:	Abu Kasim, Mohamad Amlie
Format:	Thesis
Language:	English
Published:	2014
Subjects:	Orthopedic surgery
Online Access:	https://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf
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id	my-uitm-ir.16288
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spelling	my-uitm-ir.162882022-03-29T07:23:19Z Development of hybrid actuation mechanism for prosthetic finger / Mohamad Amlie Abu Kasim 2014-04 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. 2014-04 Thesis https://ir.uitm.edu.my/id/eprint/16288/ https://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf text en public mphil masters Universiti Teknologi MARA Faculty of Mechanical Engineering
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
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
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
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
granting_institution	Universiti Teknologi MARA
granting_department	Faculty of Mechanical Engineering
publishDate	2014
url	https://ir.uitm.edu.my/id/eprint/16288/2/TM_MOHAMAD%20AMLIE%20ABU%20KASIM%20EM%2014_5.pdf
_version_	1783733497626624000

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

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