Design and Fabrication of a Robotic Prosthetic Finger

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Maskoot, Keyan | 2017

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Type of Document: M.Sc. Thesis
Language: English
Document No: 50527 (58)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Bagheri Shouraki, Saeed
Abstract:
Due to diversity in amputation possibilities, this thesis focuses on the specific case of ring finger amputation with some amount of stomp remaining. The goal is to design a robotic finger as a prosthetic, which its flexion and extension (position control) are instructed from an armband. The armband is equipped with 8 force sensors to detect volume variations in patient’s forearm. Its embedded microcontroller processes signals taken from these sensors, and using machine learning techniques (K-Nearest Regressor), decides on a specific angle for the finger. This angle value updates constantly, and using a flex sensor and a DC motor in finger, the desired flexion/extension is performed. Applying direct supervision for training, the final accuracy achieved was about 80%
Keywords:
Pattern Recognition ; Robotics ; Prosthesis ; Flexion/Extension ; Amputation ; Hand Finger ; Hand Gesture Detection ; Mechatronics

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