Data-glove-based fuzzy control of piezoelectric forceps actuator

摘要

This paper discusses a novel concept idea of utilizing smart structure in biomedical, minimum invasive surgery (MIS), MEMS manufacturing assembly line and also as a miniature robotic gripper system. The proposed prototype of a miniature piezoelectric forceps actuator (PFA) is composed of two symmetric slightly curved composite beams which each bonded with piezoelectric ceramic layer. The PFA is an innovative forceps actuator that comes with a data glove. The data glove is simply a custom-made glove with two embedded resistance-bending sensors located on thumb and index fingers. Any users can control opening and closing of the PFA by just wearing the data glove. A thin curved beam theory bonded with piezoelectric ceramic will be derived based on Hamilton's principle and its deflection behavior will be simulated based on distributed transfer function method (DTFM). A feasibility study of simulation open loop data glove-based fuzzy logic controller allows the user to open and close the PFA remotely. The bending movement of the thumb and index finger will be formulated in a table of rules based to produce the necessary output controller gain to control the PFA.