Research Article

A Fuzzy Logic Control System for a Robotic Hand Driven by Shape Memory Alloy Wires

André Silva
Federal University of Paraiba, Cidade Universitaria, Brazil.
Samuel de Oliveira
Federal University of Paraiba, Cidade Universitaria, Brazil.
Andreas Ries
Federal University of Paraiba, Cidade Universitaria, Brazil.
* Corresponding author
Simplício A. Silva
Federal University of Paraiba, Cidade Universitaria, Brazil.
Cícero Souto
Federal University of Paraiba, Cidade Universitaria, Brazil.
DOI icon 10.24018/ejeng.2019.4.10.1599

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Submitted 2019-10-16
Published 2019-10-31

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Table of Contents

Article Main Content

This paper presents a robotic hand using wires with shape memory (NiTi) as non-conventional actuators. The mechanical structure of the robot hand was first designed by means of a CAD computer program and afterwards 3D printed using ABS polymer. The robotic hand was designed according to the physiological characteristics of the human hand, with particular attention to the angles formed by the phalanges of the fingers. A mechanical system accommodates the thin NiTi wires compactly, thus forming an artificial muscle. A fuzzy logic based control system allows an accurate positioning of each phalanx. The contribution of the present work to science lies in the practical implementation of known techniques and materials.

Keywords: Shape memory alloy; NiTi; Fuzzy logic; Artificial hand

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