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

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Author(s): Somar M. Nacy | Shaker S. Hassan | Sadeq H. Bakhy

Journal: American Journal of Engineering and Applied Sciences
ISSN 1941-7020

Volume: 2;
Issue: 2;
Start page: 381;
Date: 2009;
Original page

Keywords: Particle swarm optimization | genetic algorithm | phalanx prosthesis underactuated fingers

ABSTRACT
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.
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