Controller Design Of Multifunctional Prosthetic Hand

Saad, Mohammad Zyzerull (2016) Controller Design Of Multifunctional Prosthetic Hand. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text Controller Design Of Multifunctional Prosthetic Hand - Mohammad Zyzerull Saad - 24 Pages.pdf - Submitted Version Download (416kB)

Abstract

Prosthetics hand is replacement of original hands that lose or damage because of war, trauma, accident or congenital anomalies. However, problems often occur on a prosthetics hand when dealing with the control capabilities and devising functional. Thus, an advanced with control approach is required to improve the performance in terms of quality control in prosthetics hand and also enhance existing capabilities to the optimum level. This project presents the development of an enhanced prosthetics hand since the conventional prosthetic hand are incapable to functioning as a real human hand. The main objective of this project is to create a functional prosthetics hand at upper limb, which will focus on position of human hand particularly using the movement of finger instructions. In this project, an intelligent controller is proposed to realize accurate force control with high performance. A mechanical hand designed according to the physiological alignment of muscle and attempted to control the pre-recorded movement of an actual hand. In addition, performance of prosthetics hand can be assessed through the existing issue, whether is in visual or data. Firstly, the relationship and mathematical model of the position of flex signals using system identification technique will be developed. Then, Fuzzy-PID Controller is designed. Finally, evaluation on the effectiveness of the controller design will be conducted with the flex signal for the developed prosthetic hand. It is expected that the prosthetics hand will move and functional like a real hand using the flex signals and Fuzzy-PID Controller to track the desired movement of finger in prosthetic hand. The fabrication and design development of the prosthetics hand will solve the problem for people with disabilities to continue their routine life on grasping an object with an appropriate position. As a conclusion, the Fuzzy-PID controller that has been developed to control the performance of prosthetic hand model is outperform better controller than PID and Fuzzy controller, where it’s improve the transient response and steady state error especially eliminate the overshoot and higher accuracy based on comparison of performance for the three different controllers.

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