Design and Construction of an Artificial Thumb Controlled by Command from the Index Finger

Loghmani, Javad | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 52009 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Salak Ghafari, Ali
  7. Abstract:
  8. This study provides preliminary work on the development of manual rehabilitation device for wearable and robotic manual applications. This work examines the motion of the fingers using the sensors. The developed mechanism is based on a combination of strain gauge sensors and a stepper motor, which forms the motion of the artificial thumb. In this thesis, the creation of an artificial thumb has been done with one degree of freedom, the movement and grabbing of lightweight objects. For grabbing objects, the command of controlling and keeping objects is performed through the IAR software and labVIEW software which is given to the stepper motor.This study describes the details of the work done for the fingerprint process, as well as the mechanisms and materials used to achieve setup and control goals. The results of experiments conducted with the active platform are also presented. So it is a decision to design a robotic device that can help patients hold lightweight objects. This device includes just one actuator and is controlled by strain gauges and microcontroller that helps patients. The important factors, which have been considered in the design of the device, are as follows:
    • The device should be portable
    • It should be a light weight device
    • It should be easy to use for patients
    • It should have safety mechanisms as many bio mechanic devices
    • It should be as low cost
  9. Keywords:
  10. Rehabilitation ; Prosthesis ; Pneumatic Systems ; Stepper Motor Control ; Thumb

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