Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm
- 1 ,
- 2 , Afganistan
Copyright: © 2020 Somar M. Nacy, Shaker S. Hassan and Sadeq Hussein Bakhy. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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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- Particle swarm optimization
- genetic algorithm
- three-phalanx prosthesis underactuated fingers