Advanced English

3nd ASSIGNMENT

Muhammad Abdan Syakuro

21050114120034

DEPARTEMEN TEKNIK MESIN

FAKULTAS TEKNIK
UNIVERSITAS DIPONEGORO
SEMARANG
2017
Review journal 1 Design and Implementation of Prensilia Hand Robot Control
System
In this paper a closed-loop control system for hand robots has been developed and evaluated. Control
system with main component of microcontroller to control hand robot IH2 Azzurra able to work in real-
time. The system created has a UART interface with a baud rate of 115.2kbps which can receive input
from motion sensors in the form of gloves and produces output in the form of a command as a robotic
input of the hand. This command is able to adjust the speed of the motor on each finger of the hand robot
in accordance with the movement of the hand through the motion sensor. The control system method used
is a discrete PID control system based on ATMEGA8 microcontroller. The performance of the designed
control system can be viewed directly using PC-based software that has been created. In addition, PC
software can update the firmware on the microcontroller directly and important parameters on the system
can be displayed in graphical form, or stored on PC-based storage media making it easier to further
analyze. The performance of the system is quite good, seen from the highest steady state error value of
3.137%, the highest settling time is 3.8 seconds, the highest overshoot is 3.529%, and the highest average
RMSE generated by 0.0595% 0.0119%. Needs relatively low power system that is 111,9mW. So the
standard-capacity li-ion battery power supply can be used to supply the system for approximately 29.4
hours or 1,225 days. The portability level of the power demand side is met for this system.

From the system that has been designed, realized, and from the results of tests that have been
done, it can be concluded that the control system that has been realized can be integrated directly
between the microcontroller with hand robot IH2 Azzurra with input in the form of motion sensor
/ sensor gloves that have been realized. This control system can be integrated with PC
configuration as controller and microcontroller system as slave which transmit sensor data. The
control system that has been realized has a good performance, seen from the highest steady state
error value of 3.137%, the highest settling time of 3.8 seconds, the highest overshoot of 3.529%,
and the highest average RMSE of 0.0595% 0 , 0119%. Power required by the system is
relatively low ie 111.9mW. Systems with standard-capacity li-ion battery power supplies can be
used to supply the system for approximately 29.4 hours or 1,225 days. Portability level of power
demand side have been fulfilled, but from side dimension still not fulfilled. Some suggestions for
the development of this final task is the addition of wireless network module, for example
bluetooth can be done for system portability can be improved. In addition it can be used
components with SMD technology (Surface Mounting Device) so that the dimensions of the
system will become smaller. The EMG (Electromyogram) obtained from the arm muscles can be
used as a control system input for further application and research, so that the Prensilia hand-held
robotic system (IH2 Azzurra) can actually be controlled by human hands.

Review journal 2 Dynamic Modeling and Control of a Multi-Fingered Robot

Hand for Grasping Task
this paper attempts to derive a mathematical model of the dynamics of a designed multi-
fingered robot hand with five fingers with twenty DOF (three for each finger, two for the thumb
and six for the wrist) which grasps a rigid object. We exploit our methodology based on the
Lagrange formulation, which is presented in previous work, to identify the parameters of
dynamic models of hand-object system. These models are instrumental for the design problems
of control for dynamic stable grasping that is discussed on second part. Finally, several
simulation results demonstrate the controller performance based on the derived model.

A dynamic model of a multi-fingered robot hand based on the formalism of Lagrange has
been presented. Since many researchers derive the dynamic model of the hand considering the
dynamic model of a manipulator three DOF each finger separately, the model derived in this
paper takes into account the coupling between the fingers. The model, because of its
computational simplicity and its new decoupled structure, is used for the simulation of
modelbased controllers for multi-fingered robot hand achieving a grasping task and the
diagnostic. The obtained results are quite satisfactory and show the validity of the model. As
future works, we will attempt to design controllers based on intelligent methods for the grasping
task.

Review journal 3 Design of Prosthetic Robot Hand with High Performances

Based on Novel Actuation Principles
In this paper, a conceptual design is presented to develop the prosthetic robot hand which
can accomplish most typical activities of daily life conducted by amputees. This design is based
on three novel actuation principles, which are called distributed actuation, dual-mode twisting
actuation, and EM joint locking mechanism, respectively. First of all, the distributed actuation
may simulate the effect of the distributed muscles in human nger and provides an additional
design freedom to structurally maximize the ngertip force. Second, the dual-mode twisting
actuation is considered for a new type of power transmission which allows large actuating force
and high-speed motion. Third, the EM joint locking mechanism guarantees additional degrees of
freedom to the under-actuated robot nger/hand. It may lead to the dexterous motions and stable
grasps. Finally, based on the design concepts of the actuation mechanisms, we design a nger
module for a high performance and develop a robot hand having the ve nger modules.

In this paper, for the design of the prosthetic robot hand with high performance, three novel
actuation principles, which are called distributed actuation, dual-mode twisting actuation, and
EM joint locking mechanism, were discussed. We conrmed that each mechanism plays an
importantrole to achieve the high performanceof the robot hand. That is, the distributed actuation
mechanism provides an additional design parameter to enhance

the ngertip force. The dual-mode twisting actuation allows high speed motion and large
actuating force through a single motor. Finally, the EM joint locking mechanism improves the
dexterityof the under-actuatedrobotnger. By combiningthree actuation principles, we developed
a robot hand which has light weight and small size. Through the grasp test, we conrmed that the
developed robot hand can achieve the power grasp and precision grasp.

In future, we will demonstrate the mechanical performances of the developed robot hand such as
bending speed, grasping force, and DOF by the experiments. The grasping control strategies for
various objects will also be considered.

Conclusion

Overall these three journal discusses the design of hand robots with specific purpose, but
from these three journals have 3 different focus and method for the discussion. In the first journal
described how to design and implement the hand robot IH2 Azzura, the second journal focused
on how the authors designed hand robots that have better grip strength than the previous design,
while in the third journal described how the author wants to develop a hand robot capable of
doing the daily work with high performance coupled with dimensions that are not too thick and
not too heavy.
 In the first journal the author would like to describe the design and implementation in
hand robot IH2 Azzura with discrete PID control system based on microcontroller ATMEGA8, in
this journal is explained from the beginning of what system will be used as well as the circuit of
motion sensor that is applied. in this journal also included the results of experiments on each
finger, so it is known performance generated design on the actual application. In this journal also
the authors want to develop IH2 Azzura hand robot to be better by using wireless network
module for system portability that can be improved as well as the manufacture of systems with
smaller dimensions so that the resulting product is lighter.

In the second journal the author wanted to focus on the design and the dynamic control of
the hand robot's grip, the author outlines his journal with a five-finger mathematical model with
20 DOFs (three on each finger, two on the thumb, and six on the wrist). In this paper speakers put
forward the description based on the Langrange formulation. In this journal the authors describe
the methodology that he uses, modeling, controller design, and simulations are made in each
discussion given mathematical modeling. In the future the author wants a hand robot capable of
grasping with better intelligence.

In the third journal the authors designed the development of hand robots capable of doing
the daily work better with light and dimensionless hand models. This design is based on three
actuation principles novel, which are called distributed actuation, dual-mode twisting actuation,
and EM joint locking mechanism. The author designed a finger module for the development of
hand robots that have high performance fingers. According to the author there are many
researchers who develop hand products that resemble the original hand, the researchers used a lot
of actuators to get a high DOF that causes the robot hands become heavy and large dimension,
for the authors divide into three parts. For that reason the author divides it into three parts. In this
journal, the author explains the reason for designing hand robots, the author also describes the
method he used to work on his design, in this journal described how each actuator part will be
done but not explained in how the control system he used in each part. At the end of the journal
the author shows the simulation of the design that he developed.

These three journals want to develop responsives robot hand with dimensions that are not
thick and light weight with a focus on each part, it is expected that the development of hand
robots will be better so that helps people who have disabilities on his hands.