An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator
Rehabilitation and assistive robotics is an emerging field of research where researchers are trying to develop tailored made robotic devices to address the challenge of disability. This paper presents a study on feedback controlled wearable robotic hand for grasping. The proposed design is compact...
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| Format: | Proceeding Paper |
| Language: | English English English English |
| Published: |
Springer
2017
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| Online Access: | http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf |
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| author | Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer |
| author_facet | Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer |
| author_sort | Ba Hamid, Alala M. |
| building | IIUM Repository |
| collection | Online Access |
| description | Rehabilitation and assistive robotics is an emerging field of research where researchers are trying to develop
tailored made robotic devices to address the challenge of disability. This paper presents a study on feedback
controlled wearable robotic hand for grasping. The proposed design is compact and sufficiently light to be
used as an assistive hand. It is tendon driven and jointless
structure that has the potential to be used as an
assistive device for stroke patients. The concept has been implemented for index and thumb fingers as a first
prototype to enable grasping. Shape memory alloy (SMA) actuator and bias force mechanism are used for the
purpose of hand’s flexion and extension. This paper describes the mechatronic design of the wearable hand,
simulation, modeling, and development of the actuation unit and sensory system. Experiments of open loop
controller were conducted to understand the hand characterization and grip force provided by index finger. A
feedback controller (proportional controller) was implemented for this prototype with gripping force as the
feedback parameter. It was observed that approximately 2.25 A current caused 4 cm displacement for SMA
actuator. The maximum temperature of the SMA actuator was achieved to be 100 °C. The attainable gripping
force was around 2 N for a load free finger. The conducted experiments showed promising results that
encourages further development on this. |
| first_indexed | 2025-11-14T16:32:22Z |
| format | Proceeding Paper |
| id | iium-52823 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English English English |
| last_indexed | 2025-11-14T16:32:22Z |
| publishDate | 2017 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-528232019-08-17T13:45:06Z http://irep.iium.edu.my/52823/ An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer T Technology (General) Rehabilitation and assistive robotics is an emerging field of research where researchers are trying to develop tailored made robotic devices to address the challenge of disability. This paper presents a study on feedback controlled wearable robotic hand for grasping. The proposed design is compact and sufficiently light to be used as an assistive hand. It is tendon driven and jointless structure that has the potential to be used as an assistive device for stroke patients. The concept has been implemented for index and thumb fingers as a first prototype to enable grasping. Shape memory alloy (SMA) actuator and bias force mechanism are used for the purpose of hand’s flexion and extension. This paper describes the mechatronic design of the wearable hand, simulation, modeling, and development of the actuation unit and sensory system. Experiments of open loop controller were conducted to understand the hand characterization and grip force provided by index finger. A feedback controller (proportional controller) was implemented for this prototype with gripping force as the feedback parameter. It was observed that approximately 2.25 A current caused 4 cm displacement for SMA actuator. The maximum temperature of the SMA actuator was achieved to be 100 °C. The attainable gripping force was around 2 N for a load free finger. The conducted experiments showed promising results that encourages further development on this. Springer 2017 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf application/pdf en http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf application/pdf en http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf Ba Hamid, Alala M. and Makhdoomi, Mohatashem R. and Saleh, Tanveer (2017) An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator. In: 9th International Conference on Robotic, Vision, Signal Processing and Power Applications Empowering Research and Innovation, 2nd -3rd February 2016, Penang, Malaysia. https://link.springer.com/chapter/10.1007/978-981-10-1721-6_42 10.1007/978-981-10-1721-6_42 |
| spellingShingle | T Technology (General) Ba Hamid, Alala M. Makhdoomi, Mohatashem R. Saleh, Tanveer An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title | An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title_full | An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title_fullStr | An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title_full_unstemmed | An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title_short | An assistive robotic hand based on human computer interface (HCI) and shape memory alloy (SMA) actuator |
| title_sort | assistive robotic hand based on human computer interface (hci) and shape memory alloy (sma) actuator |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/ http://irep.iium.edu.my/52823/3/Proof_LNEE_2.pdf http://irep.iium.edu.my/52823/8/9th%2BInternational%2BConference%2Bon%2BRobotic%252C.pdf http://irep.iium.edu.my/52823/19/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20SCOPUS.pdf http://irep.iium.edu.my/52823/25/52823%20An%20assistive%20robotic%20hand%20based%20on%20human%20computer%20interface%20WOS.pdf |