Design and development of an anthropomorphic hand prosthesis
| dc.contributor.author | Carvalho, André Rui Dantas | |
| dc.contributor.supervisor | Suleman, Afzal | |
| dc.date.accessioned | 2011-07-26T18:08:05Z | |
| dc.date.available | 2011-07-26T18:08:05Z | |
| dc.date.copyright | 2011 | en_US |
| dc.date.issued | 2011-07-26 | |
| dc.degree.department | Department of Mechanical Engineering | |
| dc.degree.level | Doctor of Philosophy Ph.D. | en_US |
| dc.description.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. | en_US |
| dc.description.scholarlevel | Graduate | en_US |
| dc.identifier.uri | http://hdl.handle.net/1828/3423 | |
| dc.language | English | eng |
| dc.language.iso | en | en_US |
| dc.rights.temp | Available to the World Wide Web | en_US |
| dc.subject | Hand Prosthesis | en_US |
| dc.subject | Neural Network Modeling | en_US |
| dc.subject | Neural Network Control | en_US |
| dc.subject | Multi-body Dynamics | en_US |
| dc.subject | Electroactive Polymers | en_US |
| dc.subject | Solid-state Actuator | en_US |
| dc.title | Design and development of an anthropomorphic hand prosthesis | en_US |
| dc.type | Thesis | en_US |