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Article
Grasping Force Controlling by Slip Detection for Specific Artificial Hand (ottobock 8E37)

Authors: Mauwafak A.Tawfik --- Ihsan A.Baqer --- Asaad D.Abdulsahib
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 9 Part (A) Engineering Pages: 979-984
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper presents a theoretical and experimental study to control grasping force of specific artificial hand (Otto Bock 8E37), which it uses by amputees. The hand has two rigid fingers actuated by a DC motor through a multi-gears system. The aim of this work is to give the amputees a feeling of slipping while the hand grasping an object. The mathematical model has been derived to simulate the hand mechanism and analyze the generated signal of contact force between fingertip and the grasped object through a slippage phenomenon. The experimental work consisted of modifying the artificial hand design to aid load cell mounting process in order to measure the grasping force indirectly, then acquiring the measured signal to the PC. An artificial neural network (ANN) was trained on the patterns of the force signals. These patterns were prepared by using force sensors with modified design of the artificial hand for detecting the slippage of the different shapes grasped object. The Neural Network training results have been evaluated and discussed under different conditions, which affect the controller operation such as network error, classification percentage and the response time delay.


Article
SLIP DETECTION FOR A SPECIFIC DESIGN OF FINGERTIP IN MULTI-DIRECTION UNDER DIFFERENT LOAD CONDITIONS

Authors: Hayder Ahmed Abdulrazzaq --- Ihsan Abdulhussein Baqer --- Mauwafak Ali Tawfik
Journal: Journal of Engineering and Sustainable Development مجلة الهندسة والتنمية المستدامة ISSN: 25200917 Year: 2019 Volume: 23 Issue: 1 Pages: 103-116
Publisher: Al-Mustansyriah University الجامعة المستنصرية

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Abstract

In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.


Article
The Mechanism Analysis of Underactuated Robotic Finger for Optimum Grasping Using Gradient Descent Method
تحلیل ألیة إصبع روبوتي منخفض التشغیل لأمثل مسكة بأستخدام طریقة التدرج النسبي

Authors: Sadeq H. Bakhy صادق حسین باخي --- Enass H. Flaieh إیناس حسن فلیح --- Mortada A. Jabbar مرتضى علي جبار
Journal: AL-NAHRAIN JOURNAL FOR ENGINEERING SCIENCES مجلة النهرين للعلوم الهندسية ISSN: 25219154 / eISSN 25219162 Year: 2018 Volume: 21 Issue: 1 Pages: 118-126
Publisher: Al-Nahrain University جامعة النهرين

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Abstract

This study was devoted in investigating the optimum geometric parameters for underactuated linkage three phalanges robotic finger. New kinematic and kinetic equations of grasping were derived in this research taking into account the angle for the ternary solid links of the four-bar linkages. To obtain the target of optimization, a gradient descent method was used which consists of three stages to find the optimal geometric parameters with high accuracy. Five criteria were selected to find the optimal solution by using multi objectives function algorithm, these are percentage of the grasping stability, the grasp forces, squeezing force, Mimic function for grasping task, and transmission angle for grasping operation. Gradient descent method starts by detecting the optimal geometric parameters for each criterion and choosing the best geometric parameters from the five criteria functions. At the optimum solution, the underactuated robotic finger prototype was built from hard Polylactic acid (PLA) plastic using rapid prototyping and was tested performance by grasping objects.Finally, the results have been shown that the robotic finger adapts to the wanted configurations.


Article
New Technique of Beads Removal by Modifying Alligator Forceps

Author: Farhad Jalil Khayat فرهاد جليل خياط
Journal: Diyala Journal of Medicine مجلة ديالى الطبية ISSN: 97642219 Year: 2012 Volume: 3 Issue: 1 Pages: 1-8
Publisher: Diyala University جامعة ديالى

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Abstract

Background: Removal of spherical object like beads from tracheobronchial tree is very difficult due to their round and slippery nature which makes their grasp impossible by ordinary forceps during rigid bronchoscopy (RG.BR). Aim: The aim of this study was to improve new forceps to achieve an easy and swift technique to remove beads from tracheobronchial tree.Patients and method: This study was conducted at Rizgari teaching and Erbil emergency hospitals between 1984 and 2006 and involved 75 children with bead inhalation. The diagnosis was confirmed by viewing the typical shadow of beads which could be seen on plain chest x-ray accompanied by different initial clinical signs and symptoms such as choking, cough, respiratory distress, stridor, cyanosis and fever. All beads were removed by a modified minute forceps.Result: From the total of 75 patients, 49 patients were males and 26 were females. Forty eight beads were in right main bronchus and 15 were in left main bronchus, while the other 12 beads were in trachea and carina. Most of the patients (85.3%) attended hospital immediately.Conclusion: Despite improvements in technology, there is still no appropriate removal forceps for tracheobronchial tree beads. The new improvised grasping forceps showed excellent success and such improvement can be adopted by the relevant companies to develop a special forceps for this purpose.Keywords: Bead removal, removal of beads by intrahole grasping, new method for removal of beads.

الخلفية: إزالة جسم كروي مثل (خرزة السبحة) من شجرة الرغامية القصبية من الصعب جدا نظرا لطبيعتها المنزلقة وشكلها الكروي والدور الذي يجعل من المستحيل التقاطها بالملقط العادي خلال ناظور القصبات(RG.BR).الهدف: الهدف من هذه الدراسة هو ابتكار ملقط جديدة لتحقيق تقنية سهلة وسريعة لإزالة حبات من شجرة الرغامية القصبية.المرضى والطريقة: أجريت هذه الدراسة في مستشفى رزكاري التعليمي ومسشفى اربيل للطوارئ بين عامي 1984 - 2006 وشملت 75 طفلا قد استنشق (خرزة). شخصت بصورة الفحص الشعاعي(للخرز) التي يمكن أن ترى بالأشعة السينية الاعتيادية. ومن خلال الاعراض السريرية المختلفة مثل الاختناق وضيق التنفس، والسعال,صرير,الازرقاق والحمى,جميع الخرز ازيلت بواسطة الملقط المحور.النتائج: من إجمالي 75 مريضا، 49 مريضا من الذكور و 26 من الإناث. 84 (خرزة) وجدت في قصبة الرئيسية اليمنى و 15(خرزة)وجدت في القصبة الهوائية الرئيسية اليسرى، في حين أن الأخرى 12 (خرزة) وجدت في القصبة الاساسية وزاوية ((كارين)). (85.3٪)من المرضى حضرو المستشفى على الفور.الخلاصة: على الرغم من التطور في التكنولوجيا، لا يوجد حتى الآن ملقط مناسب لازالة الخرز من الشجرة الرغامية القصبية.لقد أظهر الملقط المبتكر الجديد ملقط استيعاب يمكن اعتمادها نجاح ممتازة وهذا التحسين من قبل الشركات ذات الصلة لوضع ملقط خاص لهذا الغرض. نجاحا واضحا وهذا ممكن ان تعتمده الشركات ذات العلاقة لانتاج مثل هذا الملقط.كلمات البحث: إزالة حبة، وإزالة حبات من استيعاب intrahole، طريقة جديدة لإزالة الخرز.

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