Identification And Parameter Estimation Of Multifunctional Prosthetic Hand

Bahran, Ali Izzuddin (2016) Identification And Parameter Estimation Of Multifunctional Prosthetic Hand. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text Identification And Parameter Estimation Of Multifunctional Prosthetic Hand - Ali Izzuddin Bahran - 24 Pages.pdf - Submitted Version Download (436kB)

Abstract

Nowadays, number of patients with forearm amputations have been increased tremendously due to trauma, surgery coma or prolonged constriction. Many problems and challenges occurred for the patients who suffer with these issues especially in their daily life. The evolution of prosthetic hand is written in history, it happens from primitive beginning until the future. Some ideas and inventions have been worked and expanded for example the fixed-position foot became the use of iron in prosthesis. The main objective of this study is to create and develop nonlinear mathematical modelling of prosthetic hand. There are three phase of purposed methodology in order to complete this project which started with developing the model of prosthetic hand with grasping force which taking Electromyography (EMG) signal as input reference signal. Then, system identification and parameter estimation using voltage signal and position will be designed and implemented in the prosthetic hand. Lastly, validation on the real data from experimental works has been conducted by using the data obtained from mathematical modelling design. The system identification is a technique which can provides more accurate data and efficient of prosthetic hand. There are two type of mathematical model used in experimental including ARX for linear model and Hammerstein-Wiener for nonlinear model. For conclusion, the Hammerstein-Wiener mathematical model is acceptable because the Final Prediction Error (FPE) and Mean Square Error (MSE) are lower than ARX mathematical model.

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