DEVELOPING TACTILE SENSOR AS FEEDBACK TO MOTOR OF BIONIC HAND CONTROL SYSTEM
The human hand has such an extraordinary ability that can grasp objects of all shapes and sizes. Unfortunately, some people have lost this part of the body due to accidents, diseases, or congenital disorders. To help these people, a bionic hand was made to support hand amputees. In the previous rese...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/49155 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | The human hand has such an extraordinary ability that can grasp objects of all shapes and sizes. Unfortunately, some people have lost this part of the body due to accidents, diseases, or congenital disorders. To help these people, a bionic hand was made to support hand amputees. In the previous research, the ITB Biomechanics Research Team had succeeded in making a type of bionic hand with seven grip patterns. However, this type of bionic hand is not able to detect an object in its grip which causes the motors to keep on rotating when the bionic hand is properly grasping the object.
By evaluating and researching bionic hand design alternatives that can be developed to design the touch sensor mechanism, design prototypes were made several times until the touch sensor is able to produce a good response. The final design of the touch sensor mechanism consists of a rigid cover as a recipient of compressive forces and an elastic material as a force channel for the Force Sensitive Resistor (FSR) used. This design has been tested and provides a good sensor response.
Testing of the bionic hand revealed new abilities when grasping objects. These abilities include that the it is able to grip certain objects, apply a specific maximum grip force on objects, and lift specific masses of objects in its grip. In addition, analysis of bionic hand motion was carried out so that the range of the bionic hand grip force could be measured and analysis of the coefficient of friction on the surface of the bionic hand was also conducted.
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