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. / Graduate
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/3423 |
| Date | 26 July 2011 |
| Creators | Carvalho, André Rui Dantas |
| Contributors | Suleman, Afzal |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | Available to the World Wide Web |
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