Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
This paper presents the development of a robotic finger driven by nonconventional actuators, consisting of thin shape memory alloy (SMA) wires. In order to monitor and control the angles formed by each phalanx, a specific system for capturing and interpreting digital images was implemented. By image...
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| Veröffentlicht in: | Journal of dynamic systems, measurement, and control measurement, and control, 2018-06, Vol.140 (6) |
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| container_title | Journal of dynamic systems, measurement, and control |
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| creator | Silva, André F. C. da Silva, Simplício A. dos Santos, Alexsandro J. V. Ries, Andreas Souto, Cícero R. de Araújo, Carlos J. |
| description | This paper presents the development of a robotic finger driven by nonconventional actuators, consisting of thin shape memory alloy (SMA) wires. In order to monitor and control the angles formed by each phalanx, a specific system for capturing and interpreting digital images was implemented. By image processing, this system is capable to determine the angles without the need for installation of phalanx rotation sensors, leading to weight and volume reduction of the prototype. For this artificial vision system, a simple camera with a fuzzy logic control technique was used, which was very effective in monitoring the position of the robotic finger. |
| doi_str_mv | 10.1115/1.4038652 |
| format | Article |
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C. ; da Silva, Simplício A. ; dos Santos, Alexsandro J. V. ; Ries, Andreas ; Souto, Cícero R. ; de Araújo, Carlos J.</creator><creatorcontrib>Silva, André F. C. ; da Silva, Simplício A. ; dos Santos, Alexsandro J. V. ; Ries, Andreas ; Souto, Cícero R. ; de Araújo, Carlos J.</creatorcontrib><description>This paper presents the development of a robotic finger driven by nonconventional actuators, consisting of thin shape memory alloy (SMA) wires. In order to monitor and control the angles formed by each phalanx, a specific system for capturing and interpreting digital images was implemented. By image processing, this system is capable to determine the angles without the need for installation of phalanx rotation sensors, leading to weight and volume reduction of the prototype. For this artificial vision system, a simple camera with a fuzzy logic control technique was used, which was very effective in monitoring the position of the robotic finger.</description><identifier>ISSN: 0022-0434</identifier><identifier>EISSN: 1528-9028</identifier><identifier>DOI: 10.1115/1.4038652</identifier><language>eng</language><publisher>ASME</publisher><ispartof>Journal of dynamic systems, measurement, and control, 2018-06, Vol.140 (6)</ispartof><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-a249t-343342be1a121cd5590719bc42447c1cd5ff8b423b873805f941bd8009a31b953</citedby><cites>FETCH-LOGICAL-a249t-343342be1a121cd5590719bc42447c1cd5ff8b423b873805f941bd8009a31b953</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27901,27902,38497</link.rule.ids></links><search><creatorcontrib>Silva, André F. 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| ispartof | Journal of dynamic systems, measurement, and control, 2018-06, Vol.140 (6) |
| issn | 0022-0434 1528-9028 |
| language | eng |
| recordid | cdi_crossref_primary_10_1115_1_4038652 |
| source | Alma/SFX Local Collection; ASME Transactions Journals (Current) |
| title | Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires |
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