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

American Journal of Engineering and Applied Sciences

Somar M. Nacy¹  Sadeq H. Bakhy¹  Shaker S. Hassan¹ 

关键词: Particle swarm optimization;    genetic algorithm;    phalanx prosthesis underactuated fingers;   

DOI  :  10.3844/ajeassp.2009.381.387

学科分类：工程和技术（综合）

来源: Science Publications

【 摘 要 】

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.

【 授权许可】

Unknown