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This paper presents design analysis of an SU-8 based 2-DoF electrothermal microgripper by developing a closed-form analytical model. The analytical model considers both the electro-thermal and thermo-mechanical domains and relates the applied actuation voltage to the microgripper jaw tip displacement and gripping force on micro-object. The results obtained using developed analytical model are verified...
A very important aspect to fabricate MEMS devices, is understanding of the mechanical properties at micro-scale level. The mechanical properties of components not only depend upon the material but also on the micro-structure. Unlike other devices, MEMS components are developed from specialized micro fabrication processes in which they are subjected to cyclic loads thus producing intrinsic stresses...
The research is focused on depth evaluation using a single camera. 2D images can be used for finding the depth of a particular object in the image. Algorithm uses marker(s) to update its orientation and to compute the distance. Initially the shape of the marker is fixed and is pre-defined but as the research expands improvements will make the algorithm to work autonomously using everyday objects as...
This paper is based on a design of actuated prosthetic hand, a five fingered dexterous hand characterized by low cost fabrication. Prosthetic hand has been designed by following a biomedical approach based on biological innovative design. All the four fingers and thumb can move independently which is the novelty of this design.
Partial Paralysis often occurs due to spinal cord injuries, which generally means some functionality loss in the hands of the affected. This paper covers a novel model design of an exoskeleton which will restore hand use for basic daily activities such as gripping and pinching. This also has applications for individuals who may be physically weaker such as the elderly or those with neuromuscular diseases...
This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a...
An optimized circuit for processing of EMG signals has been designed and presented in this paper. This circuit acquires EMG signals from surface of the skin using bipolar electrodes and enables the amputee to control the prosthetic hand in an efficient manner. EMG can be defined as the electrical potential produced due to the contraction of muscle. It can be picked from the residual portion of muscles...
This paper presents the design of a low cost and portable EMG circuit for signal acquisition and signal processing of surface EMG along with motor control and drive circuitry. The proposed circuitry was successfully tested on a prosthetic arm. The paper discusses various approaches that were tested and highlights the best possible approach. The highlighted approach is best for acquiring a high fidelity...
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