Design and Manufacturing of a Wearable Portable Robotic Hand Controlled by Sliding Mode Controller

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Azimi Pirsoltan F.; Ozgoli S.; MOHAMMADI MOGHADAM M.

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Paper Information

Journal: Modares Mechanical Engineering Year:2021 | Volume:21 | Issue:4 Page(s): 273-284

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Information Journal Paper

Title

Design and Manufacturing of a Wearable Portable Robotic Hand Controlled by Sliding Mode Controller

Author(s)

Azimi Pirsoltan F. | Ozgoli S. | MOHAMMADI MOGHADAM M. | Issue Writer Certificate

Keywords

StrokeQ1

ExoskeletonQ1

HandQ1

Wearable RobotQ1

Abstract

The Hands are one of the most complex moveable organs of the human body. Some reasons such as Stroke can cause disorder in Hand functions. These patients face problems doing their daily routines. The communication between humans and robots leads to the invention of devices for improving the patient’ s ability. This paper aims to design and manufacture a prototype of a portable Wearable Robot. This robot has been designed to facilitate the daily routines of patients who are not able to extend their Hands. Researchers are facing challenges like high cost due to numerous actuators and these sensors are used to control the system. As the number of elements used to build the device increase, the ultimate weight of the device, also, grows, and practically it loses portability. According to the importance of portability of the robot and the need for long-term use by the user, device components with less weight are designed in this work. In the introduced mechanism, a torque is applied to the lowest metacarpophalangeal joints simultaneously by only one electric operator; therefore, fingers are opened. The power transmission system is inspired from the Hand tendon with the help of the cable length changes. Because of disturbances and nonlinearity of the system, a sliding mode controller to minimize the error is designed. The results demonstrate that the joint angle converges to the desired angle, and the error tends to zero. Good results, in addition to the affordable price, and suitable weight imply that we can trust the extensibility of this project.

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APA: Copy

Azimi Pirsoltan, F., Ozgoli, S., & MOHAMMADI MOGHADAM, M.. (2021). Design and Manufacturing of a Wearable Portable Robotic Hand Controlled by Sliding Mode Controller. MODARES MECHANICAL ENGINEERING, 21(4 ), 273-284. SID. https://sid.ir/paper/398183/en

Vancouver: Copy

Azimi Pirsoltan F., Ozgoli S., MOHAMMADI MOGHADAM M.. Design and Manufacturing of a Wearable Portable Robotic Hand Controlled by Sliding Mode Controller. MODARES MECHANICAL ENGINEERING[Internet]. 2021;21(4 ):273-284. Available from: https://sid.ir/paper/398183/en

IEEE: Copy

F. Azimi Pirsoltan, S. Ozgoli, and M. MOHAMMADI MOGHADAM, “Design and Manufacturing of a Wearable Portable Robotic Hand Controlled by Sliding Mode Controller,” MODARES MECHANICAL ENGINEERING, vol. 21, no. 4 , pp. 273–284, 2021, [Online]. Available: https://sid.ir/paper/398183/en

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