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Design of The Bionic Robot Hand with Electromyography Smart Sensor based on MATLAB/Simulink

W. Widhiada, T. G. T. Nindhia, and I. N. Budiarsa
Mechanical Engineering Department, University of Udayana, Campus Bukit, Jimbaran, Badung, Bali, 80362, Indonesia

Abstract— High-torque servo motors are frequently employed as actuators in bionic robot hands, which constitute a type of exoskeleton robot. However, the high torque increases the price of the servo motor. This study develops a low-cost bionic robot arm, which replaces the servo motor by a DC motor. The DC-motor actuator is controlled by a fuzzy logic control system that provides human heuristic knowledge. Based on this knowledge, the robot hand can lift, hold, receive, and retrieve desired objects. The robot arm is equipped with electromyography that detects the electrical potential caused by the contraction of the arm muscles. The magnitude of the output voltage depends on the amount of movement in the muscle part measured by the muscle sensor, which detects the electrical activity in the muscle. The robot moved from 0° to 90° in less than 1.96 s. 

Index Terms— fuzzy logic control, bionic robot hand, electromyography sensor, dc motor

Cite: W. Widhiada, T. G. T. Nindhia, and I. N. Budiarsa, "Design of The Bionic Robot Hand with Electromyography Smart Sensor based on MATLAB/Simulink," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1122-1127, August 2020. DOI: 10.18178/ijmerr.9.8.1122-1127