Development of Prosthethic Hand Hardware and Its Control System
M.H.Jali1, M.K.Alias2, R.Ghazali3, T.A.Izzuddin4, H.I.Jaafar5
1M.H. Jali, Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malacca, Malaysia.
2M. K. Alias, Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malacca, Malaysia.
3M. K. Alias, Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malacca, Malaysia.
4T.A. Izzuddin, Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malacca, Malaysia.
5H.I. Jaafar, Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malacca, Malaysia.
Manuscript received on October 16, 2015. | Revised Manuscript received on October 29, 2015. | Manuscript published on November 05, 2015. | PP: 28-31 | Volume-5 Issue-5, November 2015 . | Retrieval Number: E2736115515/2015©BEIESP
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©The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/
Abstract: This paper described the development of prosthetic hand and its control system. Initially the research start by reviewing the existing prosthetic design. After investigating of those designs, a better design approach has been presented in this work. The objective of this research is to design and develop the prosthetic hand control system in order to provide solutions for the amputee who lose their hand. This project describes an under actuated artificial hand for functional replacement of the natural hand. The hand comprised of an actuator embedded in an under actuated mechanical system. After the prosthetic hand hardware completed the fabrication process, it is modelled using system identification method. An input data (voltage) and output data (position) is collected using MyRIO. Then, the PID controller is designed based on Zigler Nichols method. Finally, the prosthetic control system is verified via simulation. It is expected that the PID controller could perform well for the prosthetic system.
Keywords: Prosthetic hand, Ziegler Nichols method, system identification, PID controller.