Abstract
This dissertation presents the design, kinematic analysis, and nonlinear control of a Haptic Glove for medical elastographic imaging virtual palpation. Of the 13 degrees of freedom present in the index finger, middle finger, and thumb of the hand, the design fixes 4, constrains 2 and controls 6 with pneumatic air cylinder actuators, allowing uncontrolled, but measured motion in the remaining 1 degree of freedom. Nearly linear bijective transfer functions between the actuator positions and joint angles are found in closed form for all 6 actuated joints. A nonlinear, sliding-mode controller that allows each actuator to be controlled by a single 5/3 proportional valve is designed and implemented. Test results for typical palpation motions are presented and discussed.
Degree Date
Spring 5-14-2022
Document Type
Dissertation
Degree Name
Ph.D.
Department
Mechanical Engineering
Advisor
Edmond Richer
Second Advisor
Yildirim Hurmuzlu
Third Advisor
Ali Beskok
Fourth Advisor
Nicos Makris
Fifth Advisor
Benno Rumpf
Subject Area
Mechanical Engineering
Number of Pages
163
Format
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial 4.0 License
Recommended Citation
Galla, Matthew, "Design and Nonlinear Control of a Haptic Glove for Virtual Palpation" (2022). Mechanical Engineering Research Theses and Dissertations. 41.
https://scholar.smu.edu/engineering_mechanical_etds/41
