Design and development of an anthropomorphic hand prosthesis

Files

Carvalho_Andre_PhD_2011.pdf (27.46 MB)

Date

2011-07-26

Authors

Carvalho, André Rui Dantas

Journal Title

Journal ISSN

Volume Title

Publisher

Abstract

This thesis presents a preliminary design of a fully articulated five-fingered anthropomorphic human hand prosthesis with particular emphasis on the controller and actuator design. The proposed controller is a modified artificial neural network PID-based controller with application to the nonlinear and highly coupled dynamics of the hand prosthesis. The new solid state actuator has been designed based on electroactive polymers, which are a type of material that exhibit electromechanical behavior and a liquid metal alloy acts as the electrode. The solid state actuators reduce the overall mechanical complexity, risk failure and required maintenance of the prosthesis.

Description

Keywords

Hand Prosthesis, Neural Network Modeling, Neural Network Control, Multi-body Dynamics, Electroactive Polymers, Solid-state Actuator

Citation

URI

http://hdl.handle.net/1828/3423

Collections

ETD (Electronic Theses and Dissertations)
Theses (Mechanical Engineering)
 
University of Victoria Libraries

We acknowledge and respect the Lək̓ʷəŋən (Songhees and Esquimalt) Peoples on whose territory the university stands, and the Lək̓ʷəŋən and W̱SÁNEĆ Peoples whose historical relationships with the land continue to this day.