Design Fabrication, real time modelling and robust control of anthropomorphic robotic hand for rehabilitation and surgical applications

The aim of this project is to provide rehabilitation to hand amputess using the mechatronic prosthetic hand. The expected outcome is to help the patients with regular hand and finger movements. The project focuses on design and fabrication of hand of an anthropomorphic nature that can

Project Title

Design Fabrication, real time modelling and robust control of anthropomorphic robotic hand for rehabilitation and surgical applications

Project Area of Specialization

Mechatronics Engineering

Project Summary

The aim of this project is to provide rehabilitation to hand amputess using the mechatronic prosthetic hand. The expected outcome is to help the patients with regular hand and finger movements. The project focuses on design and fabrication of hand of an anthropomorphic nature that can provide independent movement of each joint, real-time modeling and simulation of robotic hand and robust control of robotic hand. Hardware design includes but is
not limited to; Design and Fabrication of an anthropomotrphic mechanical structure of three degrees of freedom of each finger for flexion and extension movement. The fingers of hand can provide different movements along with grasping. Realtime modeling and simulation will include; Kinematic/ Inverse Kinematic Analysis and Real-time Dynamic modeling of the designed and fabricated hardware. After that robust trajectory tracking of the specified pattern
is ensured by implementation of the control strategy. The final outcome include a prosthesis for rehabilitation of the amputess and can also be used as a testbed for novel control strategies required to achieve optimal, robust and intelligent tracking control of the designed robotic hand. The control strategies will enable the robotic hand to provide precise finger movements which will made the hand capable for surgical applications.

Project Objectives

The project objectives are summarized below;
1) Rehabilitation of hand amputees for daily life finger and hand movements and for sugical operations
2) Design and Fabrication of an Anthropomorphic Mechatronic Hardware of robotic hand capable of
providing Rehabilitation comprising of five fingers with three Degrees of Freedom each and made of light weight material
3) Realtime Modeling and Simulation: Kinematic/ Inverse Kinematic Analysis and Real-time Dynamic/ Analytical
Mathematical Modeling of the designed and fabricated structure to achieve a precise model of the hardware for the
design and implementation of the control strategies
4) Robust Trajectory Tracking Control: Movement of desired joints according to the specified trajectory by robust tracking algorithm to ensure precise outcome

Project Implementation Method

The project will be carried out in four phases;
1) Hardware Design and Fabrication
2) Modeling and Simulation
3) Design and Implementation of the Control Strategy
4) Tuning of the control parameters to achieve desired output

This project is a Final Year Project (FYP) of the undergraduate students pursuing Bachelors Degree in Mechatronic
Engineering. The project is expected to be completed by the end of the next academic year i.e. June 23, 2021. The
FYP is divided into three terms as FYP-I, II and III. At the end of the FYP-I the students are expected to complete
literature survey of already designed and deployed robotic hands (for regular use and for surgical applications) to identify the potential problems and make a
thorough report to address the problems effectively. At the end of FYP-II, the students are required to complete
atleast two above stated phases so as to complete the project within the specified time. At the end of the final year
and FYP-III (Spring 2020), the students are to handover complete hardware in working condition i.e. in case of this
project a robust trajectory tracking hardware capable of providing precise movements of hand and fingers.

Benefits of the Project

This project benefits the
1) Medical Field in the form of Rehabilitation of hand amputees. The movements of the finger and hand helps in daily life activities and hence improves the quality of life. Secondly, the robust controller is designed to achieve desired precise performance for surgical applications.
2) Research on Trajectory Tracking Control of robotic hand for Rehabilitation and surgical applications with the help of novel Control Strategies to provide effective control. The designed and fabricated hardware as a testbed/ platform benefits in implementation and testing of designed intelligent control strategies.

Technical Details of Final Deliverable

1) Hardware of Robotic Hand 
Five finger with Three Degrees of Freedom each, Three Motors for the actuation of each phalange (flexion and extension of finger and independent movement of each finger)
Sensors for position sensing and force sensitive resistors for effective tracking
2) Realtime Modeling and Simulation
Kinematic/ Inverse Kinematic Analysis
Real-time Dynamic Modeling and Simulation
3) Trajectory Tracking Control Strategy
Robust Control Strategy designed and implemented for tracking control
Results of realtime experiments

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Medical

Other Industries

Education , Health

Core Technology

Wearables and Implantables

Other Technologies

Robotics

Sustainable Development Goals

Good Health and Well-Being for People, Quality Education

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com