Development for hand gesture movement of an exoskeleton hand model with controller

Abu Samah, Muhammad Ammar Haziq (2021) Development for hand gesture movement of an exoskeleton hand model with controller. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

	Text (24 Pages) Development for hand gesture movement of an exoskeleton hand model with controller.pdf - Submitted Version Download (512kB)
	Text (Full Text) Development for hand gesture movement of an exoskeleton hand model with controller.pdf - Submitted Version Restricted to Repository staff only Download (2MB)

Abstract

Nowadays, thousands of people across Malaysia that affect an accident cause them to lose all or part of their hands. The victims involved in the accident may have difficulty doing their daily activities like normal people or their previous lives. The development of the exoskeleton finger gesture is a function to help a person that lost all or part of their hand to regain the functionality of a regular hand. In order to develop an exoskeleton finger gesture, the three objectives need to be achieved, which are to develop the exoskeleton finger gesture by using SolidWorks Software, to control the exoskeleton finger gesture using PID controller in Simulink MATLAB Software and to verify the finger movement in exoskeleton finger gesture by comparing using transient response in PID controller via Simulink MATLAB Software. For this project, SolidWorks Software is used to design by considering the degree of freedom (DOF) in the finger gesture that only focuses on one finger, which the index finger. Also, the MATLAB software is used to control the finger gesture made in SolidWorks and compare the transient response from the different movement and gesture for exoskeleton finger gesture with regular hands to achieve this project. This project refers to the previous study, Range of Motion, to explain the DOF with the transient response in the PID controller [9]. The achievement for this project is successfully following required flexion-extension in the three DOF, which is MCP, PIP, and DIP joints in SolidWorks. Also, exoskeleton finger gesture able to achieve the desired movement by using PID controller and verified the similarities like regular hands with the transient response in three movements which is grip, low-grip, and no grip with the Steady State of Error, Ess is zero and the targeted Percentage of Overshoot, %OS is in minimal since its in range of 5%. Therefore, the PID controller is the best method for this project as an automatic process control that is Autotuned and easy to implement and quick to achieve the finding data in transient response so that the project can prove similarities like regulars. The recommendation for this project is to propose using optimization for manual tuning to increase the performance in Settling Time, Ts, which reduced the time taken for the joints of exoskeleton finger gesture is below 1 second and implement the various movements and gestures consider the movement in abduction and adduction. Hence, develop another four-finger to give the accurate result for exoskeleton finger gesture and compare performance between manual tuning with Autotuned or PID controller with Joint Torque to determine the suitability and better assistive hand model.

Actions (login required)

View Item