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Technical Brief

Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires

[+] Author and Article Information
Andre Silva

Mechanical Engineering Department, Federal University of Paraiba, Cidade Universitária, 58051-900 João Pessoa − PB, Brazil
andrefellipecs@gmail.com

Simplício A. Silva

Mechanical Engineering Department, Federal University of Paraiba, Cidade Universitária, 58051-900 João Pessoa − PB, Brazil
simplicioarnaud@gmail.com

Alexsandro Santos

Electrical Engineering Department, Federal University of Paraiba, Cidade Universitária, 58051-900 João Pessoa − PB, Brazil
alexsandro@cear.ufpb.br

Andreas Ries

Electrical Engineering Department, Federal University of Paraiba, Cidade Universitária, 58051-900 João Pessoa − PB, Brazil
ries750@yahoo.com.br

Cicero R. Souto

Electrical Engineering Department, Federal University of Paraiba, Cidade Universitária, 58051-900 João Pessoa − PB, Brazil
cicerosouto@cear.ufpb.br

Carlos Araújo

Mechanical Engineering Department, Federal University of Campina Grande, Av. Aprígio Veloso 882, 58429-140 Campina Grande − PB, Brazil
carlos.araujo@ufcg.edu.br

1Corresponding author.

ASME doi:10.1115/1.4038652 History: Received May 16, 2017; Revised November 21, 2017

Abstract

This paper presents the development of a robotic finger driven by non-conventional actuators, consisting of thin Shape Memory Alloy 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.

Copyright (c) 2017 by ASME
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