فهرست نشریات علمی دسترسی آزاد ایران

Background: This study evaluates the performance of a lightweight, compact, portable, and wearable cable-driven robotic hand prosthesis. This product can help to disable individuals to do their tasks such as gripping things or opening caps. Accordingly, a 3D model was designed and fabricated by 3D printer. The motion of each finger was provided by servomotors and elastic cables. Three servomotors were utilized for movement of thumb and other fingers. For control of fingers, the EMG signal DAQ card was employed to send neuro signal to the main board. Initially, a mathematical model was created, and a Sliding Mode Controller was designed and built.Methods: The functionality of robotic hand was validated through simulations and experimental tests. The pilot study demonstrated that the proposed Sliding Mode Controller effectively tracks various desired joint trajectories and performs well in real-world applications.Results: Experimental results showed a strong correlation between the robotic hand prosthesis (RHP) and the human hand in terms of vertical position, speed, and acceleration during flexion and extension. It is 0.52 in displacement, as well as 0.72 and 0.86 in speed and acceleration, respectively. The Sliding Mode Controller outperformed the traditional PID controller in terms of stability and accuracy.Conclusion: This study highlights the practical potential of developing advanced tools to assist disabled individuals. However, further improvements are essential for improving practicality, such as integrating force sensors and making the hardware more compact. Additionally, enhancing the control software to support simultaneous position and active force control could improve system performance in more complex tasks