Research Article Open Access

Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm

Somar M. Nacy1, Shaker S. Hassan1 and Sadeq Hussein Bakhy2
  • 1 ,
  • 2 , Afganistan
American Journal of Engineering and Applied Sciences
Volume 2 No. 2, 2009, 381-387

DOI: https://doi.org/10.3844/ajeassp.2009.381.387

Submitted On: 18 December 2008 Published On: 30 June 2009

How to Cite: Nacy, S. M., Hassan, S. S. & Bakhy, S. H. (2009). Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm. American Journal of Engineering and Applied Sciences, 2(2), 381-387. https://doi.org/10.3844/ajeassp.2009.381.387

Abstract

Problem statement: One are now interested to investigate the optimum design procedure for a finger driving mechanism to have a good configuration of the finger for its utilization in hand prosthesis. A Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers (TPPUF) based on a Particle Swarm Optimization (PSO) was presented. Approach: Firstly, a numerical evaluation of the human-like motion was obtained by using an anthropomorphic finger mechanism. Secondly, the dimensional design of a finger driving mechanism had been formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristics that were associated with finger motion, grasping equilibrium and force transmission. Results: Testing results indicated that the proposed PSO gives high-quality result and shorter computation time compared with genetic algorithm. Conclusion: Using the PSO Algorithm with the Matlab-software, it is possible to identify all the necessary parameters of the mathematical models.

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Keywords

  • Particle swarm optimization
  • genetic algorithm
  • three-phalanx prosthesis underactuated fingers