Abstract:
Nowadays, an autonomous robotics is one of the evidences of the technological
development. Autonomous robots are created by people to solve their problem, ease
their challenges, and overcome their limitation. Robot already help in a lot of fields,
such as medical, industry, logistic, and transportation. A lot of aspects in this world has
could be easier because of the presence of the autonomous robot. For example, some
developer has created an exoskeleton robot, a wearable robot that is powered by a
system to allow its user increased their strength and endurance in moving their limbs to
do daily or heavy-duty activities. This kind of robot already help a lot of people
especially people who has need rehabilitation to move their limbs because of some
disease.
In this thesis, a robot prosthetic hand is developed. The core controller in this
robot is Fuzzy Logic Controller using Electromyography sensor to detect user muscle
activity near the skin. Based on the contraction activity level in the user’s forearm
muscle, the robot can determine to mimic some human hand motion or pose; muscle
relaxation is for open hand motion or pose, light muscle contraction is for grabbing card
hand motion or pose, and heavy muscle contraction is for grabbing object or close hand
motion or pose. This level of muscle contraction is based on the usual human activity
in their muscle.
