scholarly journals Robust Feedback Control Design of Underactuated Robotic Hands with Selectively Lockable Switches for Amputees

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Bilal M. Yousuf ◽  
Asim Mehdi ◽  
Abdul Saboor Khan ◽  
Aqib Noor ◽  
Arslan Ali
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Second Step ◽  
Robotic Hand ◽  
Effective Solution ◽  
Robotic Hands ◽  
Daily Lives ◽  
Mechanical Hand ◽  
Controlling System ◽  
The Coefficient Of Friction

In recent years, reproduction of human mechanical hand with upgraded abilities is one of the major concerns. This paper addresses the problems of underactuated robotic hand with low cost design as it avoids electromyogram (EMG) sensors. The main goal is to balance the hand in the way, like grabbing, speed, and power, and provide a more robust and cost effective solution. All fingers have some mechanical consistency for picking up objects in a better way. A Flex sensor is attached to all fingers and it is interfaced with a computer using Arduino UNO microcontroller. The sensor aids the arm in three different directions: at first it senses whether an object is grasped or not. In the second step, it determines the coefficient of friction between the objects. Finally it grasps the object and stops. One of the primary issues of prosthetic hand is to have the capacity to satisfy every detail of torque, speed, and latency. In this research, we have developed a model of robotic hand with some modifications. The adaptability of grasping is compared with the degree of freedom (DOF) along with the quantity of fingers. We are controlling our hands via sensors based signal controlling system. The idea is to design a robotic hand, which has low cost, is easy to use, and is light in weight, which helps the amputees to use it with ease in their daily lives. The efficacy of the proposed control is verified and validated using simulations.

scholarly journals Design and Development of Perimeter Security Platform

2020 ◽  
Vol 9 (2S5) ◽  
pp. 64-66
Keyword(s):  
Sensor Network ◽  
Low Cost ◽  
Cost Effective ◽  
Vibration Sensor ◽  
Smart Devices ◽  
Effective Solution ◽  
Design And Development ◽  
Specific Location ◽  
Sensor Information ◽  
Ethernet Interface

There are many integrated perimeter security solutions available, the main objective of this paper is to provide cost effective solution. This paper mainly focuses on design of a Low-cost vibration module with RS485 interface, Controller hub with RS485 interface and Ethernet interface and a Command Centre server. The platform consists of RS485 daisy chained vibration sensor network connected to control server via Controller hub. It is designed to pin point the area of intrusion and cueing the camera to that specified location. It can be integrated with smart devices like PTZ/Thermal/IR cameras or radars. Each daisy chain consists of 250 sensors with each sensor 3 metres apart, each ethernet hub can handle 2 daisy chains. The Controller hub gets vibration sensor information via RS485 and transmits data to Command centre using TCP/IP protocol. The Controller centre identifies the location of the sensor and moves the PTZ camera to the specific location and live streams the data to the user.

scholarly journals Design and Creation of Custom Internet of Things (Iot) Device for Analysis of Drunk and Drowsy Driver Detection

2020 ◽  
Vol 9 (4) ◽  
pp. 1382-1387
Keyword(s):  
Internet Of Things ◽  
Road Safety ◽  
Low Cost ◽  
Drunk Driving ◽  
Cost Effective ◽  
Modern World ◽  
The Internet ◽  
Daily Lives ◽  
The Road ◽  
Design And Testing

Road Safety is the most crucial aspect in this modern world as the reckless use of the developed technology i.e. vehicles, is leading to human loss. Safety concerns while driving is of utmost importance in our daily lives. It might lead to the loss of lives of even innocent people and loss of property. The evolution of the Internet of Things (IoT) and the continuing increase in the number of sensors connected to the Internet has led to development of various application in our day to day life. Thus, automation in road safety using IoT can help to reduction as well as prevention of accidents. Accuracy is important when it comes to road safety and one must always strive to achieve the highest accuracy, provided there is no trade off’ with inexcusable time. Most of the road accidents are caused due to drowsiness or drunk driving. This paper deals with the design and testing of drunk and sleep-deprived driver detection device. This paper presents a low-cost effective method for drowsiness detection and proposes a method to detect whether the driver is drunk or not. Finally, it lays off a way to communicate with emergency help services. It deals with the design and testing of drunk and drowsy driver detection device.

An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Haosen Yang ◽  
Guowu Wei ◽  
Lei Ren ◽  
Zhihui Qian ◽  
Kunyang Wang ◽  
...  
Keyword(s):  
System Integration ◽  
Mechanical Design ◽  
Low Cost ◽  
Score Test ◽  
Human Hand ◽  
Robotic Hand ◽  
Level Control ◽  
Robotic Hands ◽  
Driven Systems ◽  
And Control

Abstract This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact mechanical structure that aims to imitate the mobility of a human hand. Based on the investigation of the human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-hand II is presented. Then, using D-H convention, kinematics of this hand is formulated and illustrated with numerical simulations. Furthermore, fingertip force is deduced and analyzed, and mechatronic system integration and control strategy are addressed. Subsequently, a prototype of the proposed robotic hand is developed, integrated with low-level control system, and following which empirical study is carried out, which demonstrates that the proposed hand is capable of implementing the grasp and manipulation of most of the objects used in daily life. In addition, the three widely used tools, i.e., the Kapandji score test, Cutkosky taxonomy, and Kamakura taxonomy, are used to evaluate the performance of the hand, which evidences that the MCR-hand II possesses high dexterity and excellent grasping capability; object manipulation performance is also demonstrated. This paper hence presents the design and development of a type of novel tendon–linkage-integrated anthropomorphic robotic hand, laying broader background for the development of low-cost robotic hands for both industrial and prosthetic use.

scholarly journals APPLICATION OF MATLAB-BASED INTERFACE FOR THE CONTROL OF MICROBIOREACTOR OPERATION

2018 ◽  
Vol 80 (6) ◽  
Author(s):  
Muhd Nazrul Hisham Zainal Alam ◽  
Tan Jia Hou ◽  
Abbas Kouzani ◽  
Abdul Rashid Husain
Keyword(s):  
Embedded System ◽  
Low Cost ◽  
Control Program ◽  
Cost Effective ◽  
Effective Solution ◽  
Matlab Software ◽  
Input And Output ◽  
Software Packages ◽  
Working Volume ◽  
Degree Of Control

This work presents the use of Arduino-based embedded system interfaced to MATLAB software packages as an alternative cost-effective solution for the control of the microbioreactor operation. In the presented work, a microbioreactor platform with a working volume of approximately 1.5 mL have been fabricated using a low-cost poly (methylmethacrylate) (PMMA) and poly(dimethylsiloxane) (PDMS) polymers. The reactor have been integrated with stirring control, fuzzy logic temperature control, and aeration feature via a miniature air compressor. Control program of the microbioreactor system was established using Simulink, MATLAB software were executed by interfacing the program with Arduino Mega 2560 microcontroller for input and output of signals. Numbers of experimentation were performed to validate and demonstrate the potential of the proposed method. Satisfactorily degree of control and supervision was achieved (+ 1-3% of the set-point values).  The entire microbioreactor system can be operated stably for a least 48 hours. The work demonstrated the usefulness of MATLAB software in establishing a microbioreactor operating interface that consisted merely few Simulink program block sets and executed on a low-cost Arduino board.

scholarly journals Towards a More Robust Non-Rigid Robotic Joint

2020 ◽  
Vol 3 (4) ◽  
pp. 45
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Robotic Manipulators ◽  
Robotic Systems ◽  
Control Architecture ◽  
Effective Solution ◽  
Adverse Conditions ◽  
Compliant Control ◽  
Rigid Joints ◽  
Final System

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

Efficient Solving Method of Common-Mode Interference in Balanced Bus

2013 ◽  
Vol 340 ◽  
pp. 418-421
Author(s):  
Xiao Ming Chang ◽  
Chun Geng Gao
Keyword(s):  
Simple Structure ◽  
Low Cost ◽  
Cost Effective ◽  
Communication Line ◽  
Effective Solution ◽  
Common Mode ◽  
Mathematical Formula ◽  
Common Mode Voltage ◽  
Definition Of ◽  
Mode Interference

To analyze the causes of common-mode interference from the definition of common-mode voltage, and the combination of graphics using mathematical formula image illustrates the size of common-mode voltage. At the same time, to analyze the method and defects of common-mode interference in the traditional two-line balanced communication line. On this basis, a cost-effective solution circuit is proposed. The results prove that the circuit has the advantages of low cost, simple structure, convenient features.

scholarly journals Fabrication of Rice Transplanter and Plant Sapling Machine

2019 ◽  
pp. 425-429
Author(s):  
Kulothungan. S ◽  
Sivanesh S ◽  
Sivaprakasam S
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Petrol Engine ◽  
Effective Solution ◽  
The Cost ◽  
Crank Mechanism

Though many equipment's are available in the market, there is still a need for cost effective solution for rice transplanting and planting and planting of the saplings. This project is aimed at a low cost solution for farmers for rice transplanting without compromising on efficiency. The cost has been brought down by the use of a simple crank mechanism can be either manually operated or by a petrol engine when needed the equipment can be used for planting other saplings also.

Sudden Unavailability of Water in Water Tank May Invite COVID-19 Improved Implementation of Low-Cost Internet of Things Solution

2020 ◽  
Vol 17 (12) ◽  
pp. 5250-5255
Author(s):  
Pasam Prudvi Kiran ◽  
E. Laxmi Lydia
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Health Care Facilities ◽  
Practical Case ◽  
Water Tank ◽  
Daily Lives ◽  
Proposed Model ◽  
Effective Manner ◽  
New Feature ◽  
Improved Model

The way the COVID-19 circumstance has been advancing is very disturbing over the globe and apparently this battle will be a prolonged one. At least, till the mission for vaccination succeeds, we should figure out how to live safely alongside the infection. Along with all the safety measures we have recently incorporated into our daily lives, the provision of continuous availability of water in a water tank at households, schools, marketplaces, health care facilities, and all other public gathering places is essential for right time self-sanitation and for maintaining hygienic surroundings, which ensures protection from this pandemic. In this work, at first, we explore the important role of continuous water availability in this pandemic lifestyle. Secondly, we provide a brief survey of existing works which are closely related to proposed problem and thirdly, we have prepared an improved model overcoming the maximum limitations of surveyed models and also adding new feature of thought provoking GUI and applied it to a practical case study to demonstrate its need and effectiveness. Proposed model can be adopted immediately in a cost-effective manner, with applicability ranging from 1000 Litre plastic water tank serving a normal house hold to 1000000 Litre overhead water tank serving a small village or a big industry, promoting the continuous availability of water.

Anthropometric Robotic Hand for Pressurized Glove Torque Measurement

2014 ◽  
Vol 11 (02) ◽  
pp. 1450018 ◽  
Author(s):  
Dustyn P. Roberts ◽  
Jack Poon ◽  
Daniella Patrick ◽  
Joo H. Kim
Keyword(s):  
Low Cost ◽  
Human Hand ◽  
Neutral Position ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Performance Requirements ◽  
Transverse Arch ◽  
Data Processing Method ◽  
Design And Testing ◽  
Different Levels

While robotic hands have been developed for tasks such as manipulation and grasping, their potential as tools for evaluation of engineered products — particularly compliant structures that are not easily modeled — has not been broadly studied. In this research, a low-cost anthropometric robotic hand is introduced that is designed to characterize glove stiffness in a pressurized environment. The interaction with the compliant pressurized glove provides unique performance requirements and design constraints. The anthropometric robotic hand was designed to mimic the human hand in a configuration corresponding to the neutral position in zero gravity, including the transverse arch, longitudinal arch, and oblique flexion of the rays. The resulting robotic hand also allows for realistic donning and doffing of the prototype glove, its pressurization, and torque testing of individual joints. Solid modeling and 3D printing enabled the rapid design iterations necessary to work successfully with the compliant pressure garment. An instrumentation and data processing method was used to calculate the required actuator torque at each finger's knuckle joint. The performance of the robotic hand was experimentally demonstrated with a prototype spacesuit glove at different levels of pressure, followed by a statistical repeatability analysis. The reliable measurement method validated the pressure-induced stiffening. The resulting robotic design and testing method provide an objective and systematic way of evaluating the performance of compliant gloves.

Alternative customized instrumentation and technique for percutaneous balloon compression rhizotomy for trigeminal neuralgia

2020 ◽  
Vol 132 (6) ◽  
pp. 1938-1941
Author(s):  
Robert A. Scranton ◽  
Kushal Shah ◽  
Aaron A. Cohen-Gadol
Keyword(s):  
Trigeminal Neuralgia ◽  
Operative Time ◽  
Low Cost ◽  
Cost Effective ◽  
The United States ◽  
Gasserian Ganglion ◽  
Effective Solution ◽  
Balloon Compression ◽  
Percutaneous Balloon ◽  
Percutaneous Balloon Compression

OBJECTIVETrigeminal neuralgia is a debilitating disease that can be treated effectively by a number of modalities. Percutaneous balloon compression rhizotomy of the gasserian ganglion is an important technique that can be offered as a primary or secondary strategy after failure of medical therapy. However, the commercial kit for this procedure was discontinued in the United States in early 2016 and therefore is not currently available. The authors describe a low-cost, effective solution for continuing to offer this procedure using equipment already available in most hospitals.METHODSThe authors provide a detailed equipment list with step-by-step instructions on how to prepare all the necessary items and perform a percutaneous balloon compression rhizotomy.RESULTSThe custom “homemade” kit and technique described have been utilized successfully since June 2016 in 34 patients. The kit is a low-cost alternative, and its application does not add any operative time beyond that required for the previously commercially available kit.CONCLUSIONSPercutaneous balloon compression rhizotomy of the gasserian ganglion is an important technique that should be readily available to patients who are not medically fit for microvascular decompression and need immediate relief of their pain. The alternative kit described here can be assembled easily using equipment that is readily available in most hospitals.

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