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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 49516 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Salarieh, Hassan
- Abstract:
- Despite the advancement of technology in the world still some parts of the work are done by human hands. Gloves that increase fingers force can cause less fatigue, greater accuracy and efficiency in carrying out their duties in person.Also patients with muscle weakness due to M.S. or apoplexy, or elderly people are unable to do the simplest tasks. A wearable robotic glove that can restore hand function can increase the quality of life for people with mobility problems. The aim of this research is to design, build and control a conceptual prototype of a flexible wearable robot to increase fingers force by cable mechanism; and in this glove, force and position control concurrently is done by fuzzy algorithm with emotional learning.The design of this glove has been inspired from the human hand anatomy, in addition glove control method is similar to human brain control.In this project, at first review of related research, mechanical structure and electrical circuit were designed, then the prototype was built. Then linear proportional and fuzzy controller with learning ability were designed and eventually implementing controller by Arduino board and Simulink software in real time, and glove operation were tested
- Keywords:
- Fuzzy Controller ; Emotional Learning ; Wearable Assistive Device ; Intelligent Controller ; Fuzzy Control ; Exoskeleton ; Hand Motion ; Exo-glove
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