scholarly journals Model-based control of individual finger movements for prosthetic hand function

2019 ◽  
Author(s):  
Dimitra Blana ◽  
Antonie J. van den Bogert ◽  
Wendy M. Murray ◽  
Amartya Ganguly ◽  
Agamemnon Krasoulis ◽  
...  
Keyword(s):  
Clinical Success ◽  
Hand Function ◽  
Model Performance ◽  
Prosthetic Hand ◽  
Full Potential ◽  
Robotic Hand ◽  
Real Time Control ◽  
Prosthetic Devices ◽  
Computational Performance ◽  
Prosthesis Control

AbstractProsthetic devices for hand difference have advanced considerably in recent years, to the point where the mechanical dexterity of a state-of-the-art prosthetic hand approaches that of the natural hand. Control options for users, however, have not kept pace, meaning that the new devices are not used to their full potential. Promising developments in control technology reported in the literature have met with limited commercial and clinical success. We have previously described a biomechanical model of the hand that could be used for prosthesis control. In this study, we report on three key elements of the biomechanical simulations relevant to prosthesis control: we show the performance of the model in replicating recorded hand kinematics and find average correlations of 0.89 between modelled and recorded motions; we show that the computational performance of the simulations is fast enough to achieve real-time control with a robotic hand in the loop; and we describe the use of the model for controlling object gripping. Despite some limitations in accessing sufficient driving signals, the model performance shows promise as a controller for prosthetic hands when driven with recorded EMG signals. We identify areas for future work to address these limitations.

The Influence of the Abduction Joints of Four Fingers to Grasp: Experimental and Simulated Verification

2021 ◽  
Vol 11 (24) ◽  
pp. 11960
Author(s):  
Yadong Yan ◽  
Chang Cheng ◽  
Mingjun Guan ◽  
Jianan Zhang ◽  
Yu Wang
Keyword(s):  
Success Rate ◽  
Hand Function ◽  
Great Influence ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Metacarpophalangeal Joints ◽  
Flexion Extension ◽  
Grasp Force ◽  
Grasp Quality

The thumb is the most important finger of the human hand and has a great influence on grasp manipulations. However, the extent to which joints other than the thumb joints affect the grasp, and thus, which joints should be included in a prosthetic hand, remains an open issue. In this paper, we focus on the metacarpophalangeal joints of the four fingers, except the thumb, which can generate flexion/extension and abduction/adduction motions. The contribution of these joints to grasping was evaluated in four aspects: grasp size, grasp force, grasp quality and grasp success rate. Six subjects participated in experiments with respect to the maximum grasp size and grasp force. The results show that possessing abduction mobility of the metacarpophalangeal joints can increase the grasp size by 4.67 ± 1.93 mm and the grasp force by 5.27 ± 4.25 N. Then, the grasping quality and success rate were tested in a simulation platform and using a robotic hand, respectively. The results show that grasp quality was promoted by 76.7% in the simulated environment with abduction mobility compared to without abduction mobility, whereas the grasp success rate was promoted by 68.3%. We believe that the results of this work can benefit the understanding of hand function and prosthetic hand design.

A Novel Force Sensitive Resistor Wheatstone Bridge for Prosthesis Control

2014 ◽  
Author(s):  
Kyle A. Schroeder ◽  
Juan De La Fuente ◽  
Thomas G. Sugar ◽  
Thierry Flaven
Keyword(s):  
Wheatstone Bridge ◽  
Prosthetic Hand ◽  
Sensor Location ◽  
Prosthetic Devices ◽  
Prosthesis Control ◽  
Intuitive Method ◽  
Opening And Closing

Control of prosthetic devices should be robust and intuitive. In this work a simple, robust, and intuitive method for opening and closing a prosthetic hand for transradial amputations is proposed. The method utilizes force sensitive resistors (FSR) in a sleeve around the residual forearm. Contracting the muscles to open or close the hand changes the shape of the forearm and the force on the FSR sensors. A novel Wheatstone bridge configuration of the sensors simplifies and expediates the calibration. Using all four FSRs as the resistors of the Wheatstone bridge, the system is relatively insensitive to sensor location. To calibrate the sensor, the user opens and closes the hand a few times. The method was demonstrated in simulation on two unamputated individuals opening and closing the hand. To demonstrate the robustness of the method, the sleeve was removed and replaced so that the FSR locations and the calibration is different, but the system is still functional.

Bio-Inspired Techniques in Human-Computer Interface for Control of Assistive Devices

2018 ◽  
pp. 23-46
Author(s):  
P. Geethanjali
Keyword(s):  
Pattern Recognition ◽  
Control Strategy ◽  
External World ◽  
Assistive Devices ◽  
Assistive Device ◽  
Prosthetic Hand ◽  
Orthotic Devices ◽  
Prosthetic Devices ◽  
Navigation Control ◽  
Selection Of

Most of the assistive devices are of user contact based control like body-powered prosthetic hand, joystick control of wheelchair, sip-and-puff, etc. and have a limited number of control movements. The performance of these assistive devices improves using bio-signals/gesture based control embedded in the processor. Gesture based control is widely used in wheelchair navigation control, communication with external world for neuromuscular impaired subjects. On the other hand, bio-signals are used widely in prosthetic devices, wheelchair control, orthotic devices, etc. with pattern recognition based control strategy. The choice and number of features used in pattern recognition for accurate control of assistive device is crucial. Further, these features performance also varies with the classifier. The appropriate selection of combination of pattern recognition will enhance the accuracy. This chapter focuses on bio-inspired techniques in selection of features and classification for the pattern recognition based assistive device control.

scholarly journals Virtualization of Robotic Hands Using Mobile Devices †

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 81
Author(s):  
Santiago T. Puente ◽  
Lucía Más ◽  
Fernando Torres ◽  
and Francisco A. Candelas
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Hand ◽  
Robot Hand ◽  
Real Time Control ◽  
Robotic Hands ◽  
Robot Operating System ◽  
Server Side ◽  
Time Control ◽  
Unity 3D ◽  
Real Robot

This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

Design, Build, and Test of a Permanently Implanted Prosthetic Hand

2002 ◽  
Author(s):  
Matthew Williams ◽  
Wayne Walter
Keyword(s):  
Range Of Motion ◽  
Grip Force ◽  
Point Of View ◽  
Neural Interface ◽  
Normal Operation ◽  
Human Model ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Laminin 5 ◽  
Implant Length

The feasibility of a permanently implanted prosthetic hand was evaluated from both an internal biocompatibility and exterior mechanics point of view. A literature review of the issues involved in permanent implantation of a percutanious device was performed in the areas of bone interaction and fixation and neural interface control. A theoretical implant was designed for a 90th percentile male, using a HA-G-Ti composite material to provide a permanent base to which the hand could attach. Using a radial implant length of 1.87 inches and an ulna implant length of 1.32 inches, the simulated implant could withstand a push out force of 10.260 pounds. Using nerve guidance channels and microelectrode arrays, a Regenerative Neural Interface was postulated to control the implant. The use of Laminin-5 was suggested as a method of preventing the lack of wound closure observed in percutanious devices. The exterior portion of a permanent artificial hand was analyzed by the construction of a robotic hand optimized for weight, size, grip force and wrist torque, power consumption and range of motion. Using a novel dual drive system, each finger was equipped with both joint position servos as well as a tendon. Fine grip shape was formed using the servos, while the tendon was pulled taunt when grasping an object. Control of the prosthetic hand was performed using a distributed network of micro-controllers. Each finger’s behavior was governed by a master/slave system where input from a control glove was processed by a master controller with joint servo and tendon instructions passed to lower-level controllers for management of hand actuators. The final weight of the prototype was 3.85 pounds and was approximately 25% larger than the 90th percentile male hand it was based on. Grip force was between 1.25 and 2 pounds per finger, depending on amount of finger flexion with a wrist lifting torque of 1.2 pounds at the center of the palm. The device had an average current draw of 3 amps in both normal operation and tight grasping. Range of motion was similar to that of the human model. Overall feasibility of the device is examined and factors involved in industrial implementation are discussed.

scholarly journals Model-Based Control of Individual Finger Movements for Prosthetic Hand Function

2020 ◽  
Vol 28 (3) ◽  
pp. 612-620 ◽  
Author(s):  
Dimitra Blana ◽  
Antonie J. Van Den Bogert ◽  
Wendy M. Murray ◽  
Amartya Ganguly ◽  
Agamemnon Krasoulis ◽  
...  
Keyword(s):  
Hand Function ◽  
Prosthetic Hand ◽  
Finger Movements ◽  
Model Based Control ◽  
Model Based ◽  
Individual Finger

scholarly journals Ten guidelines for the design of non-assembly mechanisms: The case of 3D-printed prosthetic hands

2018 ◽  
Vol 232 (9) ◽  
pp. 962-971 ◽  
Author(s):  
Juan Sebastian Cuellar ◽  
Gerwin Smit ◽  
Amir A Zadpoor ◽  
Paul Breedveld
Keyword(s):  
Developing Countries ◽  
3D Printing ◽  
Fused Deposition Modelling ◽  
Prosthetic Hand ◽  
Prosthetic Devices ◽  
Hand Prosthesis ◽  
Fused Deposition ◽  
Prosthetic Hands ◽  
Design Considerations ◽  
3D Printed

In developing countries, prosthetic workshops are limited, difficult to reach, or even non-existent. Especially, fabrication of active, multi-articulated, and personalized hand prosthetic devices is often seen as a time-consuming and demanding process. An active prosthetic hand made through the fused deposition modelling technology and fully assembled right after the end of the 3D printing process will increase accessibility of prosthetic devices by reducing or bypassing the current manufacturing and post-processing steps. In this study, an approach for producing active hand prosthesis that could be fabricated fully assembled by fused deposition modelling technology is developed. By presenting a successful case of non-assembly 3D printing, this article defines a list of design considerations that should be followed in order to achieve fully functional non-assembly devices. Ten design considerations for additive manufacturing of non-assembly mechanisms have been proposed and a design case has been successfully addressed resulting in a fully functional prosthetic hand. The hand prosthesis can be 3D printed with an inexpensive fused deposition modelling machine and is capable of performing different types of grasping. The activation force required to start a pinch grasp, the energy required for closing, and the overall mass are significantly lower than body-powered commercial prosthetic hands. The results suggest that this non-assembly design may be a good alternative for amputees in developing countries.

scholarly journals Clinical Trial of HEXORR II for Robotic Hand Movement Therapy After Stroke

2020 ◽  
Author(s):  
Ji Chen ◽  
Iian Black ◽  
Diane Nichols ◽  
Tianyao Chen ◽  
Melissa Sandison ◽  
...  
Keyword(s):  
Clinical Trial ◽  
Motion Capture ◽  
Hand Function ◽  
Hand Movement ◽  
Chronic Stroke ◽  
High Dose ◽  
Robotic Hand ◽  
Robotic Therapy ◽  
Task Practice ◽  
Upper Extremity Impairment

Abstract BackgroundImpaired use of the hand in functional tasks remains difficult to overcome in many individuals after a stroke. This often leads to compensation strategies using the less-affected limb, which allows for independence in some aspects of daily activities. However, recovery of hand function remains an important therapeutic goal of many individuals, and is often resistant to conventional therapies. In prior work, we developed HEXORR I, a robotic device that allows practice of finger and thumb movements with robotic assistance. In this study, we describe modifications to the device, now called HEXORR II, and a clinical trial in individuals with chronic stroke. MethodsFifteen individuals with a diagnosis of chronic stroke were randomized to 12 or 24 sessions of robotic therapy. The sessions involved playing several video games using thumb and finger movement. The robot applied assistance to extension movement that was adapted based on task performance. Clinical and motion capture evaluations were performed before and after training and again at a 6 month followup. ResultsFourteen individuals completed the protocol. Fugl-Meyer scores improved significantly over the 3 time points, indicating reductions in upper extremity impairment. Flexor hypertonia (Ashworth) also decreased significantly due to the intervention. Motion capture found increased finger range of motion and extension ability when the arm was supported by gravity. However, extension ability did not improve significantly during a reach and grasp task, and there was no change in a functional measure (Action Research Arm Test). At the followup, the high dose group had significant gains in hand displacement during a forward reach task. There were no other significant differences between groups. ConclusionsFuture work with HEXORR II should focus on integrating it with functional task practice and incorporating grip and squeezing tasks. Trial registration: CLINICALTRIALS.GOV, NCT04536987. Registered 3 September 2020 - Retrospectively registered, https://clinicaltrials.gov/ct2/show/record/NCT04536987 

scholarly journals Robotic hand design with linear actuators based on Toronto development

Athenea ◽  
2020 ◽  
Vol 1 (1) ◽  
pp. 22-28
Author(s):  
Oscar Vargas ◽  
Omar Flor ◽  
Carlos Toapanta
Keyword(s):  
Degrees Of Freedom ◽  
Biomedical Signal Processing ◽  
Mode Switching ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Leap Motion ◽  
International Conference ◽  
Upper Limb Prostheses ◽  
Linear Actuators ◽  
And Control

In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented. Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator. References [1]W. Diane, J. Braza and M. Yacub, Essentials of Physical Medicine and Rehabilitation, 4th ed. Philadelphia: Walter R. Frontera and Julie K. Silver and Thomas D. Rizzo, 2020, pp. 651 - 657. [2]A. Heerschop, C. Van Der Sluis, E. Otten, & R.M. Bongers, Looking beyond proportional control: The relevance of mode switching in learning to operate multi-articulating myoelectric upper-limb prostheses, . Biomedical Signal Processing and Control, 2020, doi:10.1016/j.bspc.2019.101647. [3]L. Heisnam, B. Suthar, 20 DOF robotic hand for tele-operation: — Design, simulation, control and accuracy test with leap motion. 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, doi:10.1109/raha.2016.7931886. [4]Y. Mishima, R. Ozawa, Design of a robotic finger using series gear chain mechanisms. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, doi:10.1109/iros.2014.6942961. [5]N. Dechev, W. Cleghorn, S. Naumann, Multi-segmented finger design of an experimental prosthetic hand,Proceedings of the Sixth National Applied Mechanisms & Robotics Conference, december 1999. [6]O. Flor, “Building a mobile robot,” Education for the future. Accessed on: December 29, 2019. [Online] Available: https://omarflor2014.wixsite.com/misitio. [7]Vargas, O., Flor,O., Suarez, F., Design of a robotic prototype of the hand and right forearm for prostheses, Universidad, Ciencia y Tecnología, 2019. [8]O. Vargas, O. Flor, F. Suarez, C. Chimbo, Construction and functional tests of a robotic prototype for human prostheses, Revista espirales, 2020. [9]P. PonPriya, E. Priya, Design and control of prosthetic hand using myoelectric signal. International Conference on Computing and Communications Technologies (ICCCT), 2017, doi:10.1109/iccct2.2017.7972314. [10]N. Bajaj, A. Spiers, A. Dollar, State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design. IEEE Transactions on Robotics, 2019, doi:10.1109/tro.2018.2865890.

scholarly journals Control of prosthetic hand by using mechanomyography signals based on support-vector machine classifier

2021 ◽  
Vol 23 (2) ◽  
pp. 1180
Author(s):  
Firas Saaduldeen Ahmed ◽  
Noha Abed-Al-Bary Al-jawady
Keyword(s):  
Pattern Recognition ◽  
Support Vector Machine ◽  
Wavelet Packet ◽  
Support Vector ◽  
Prosthetic Hand ◽  
Hand Gestures ◽  
Prosthetic Devices ◽  
Prosthetic Hands ◽  
Average Accuracy ◽  
And Control

<div>Prosthetic devices are necessary to help amputees achieve their daily activity in the natural way possible. The prosthetic hand has controlled by type of signals such as electromyography (EMG) and mechanomyography (MMG). The MMG signals have represented mechanical signals that generate during muscle contraction. These signals can be detected by accelerometers or microphones and any kind of sensors that can detect muscle vibrations. The contribution of the current paper is classifying hand gestures and control prosthetic hands depends on pattern recognition through accelerometer and microphone are to detect MMG signals. In addition to the cost of prosthetic hand less than other designs. Six subjects are involved. In this present work is the devices. In this study, two of them are amputee subjects. Each subject performs seven classes of movements. Pattern recognition (PR) is used to classify hand gestures. The wavelet packet transform (WPT) and root mean square (RMS) as features extracted from the signals and support vector machine (SVM) as a classifier. The average accuracy is 88.94% for offline tests and 84.45% for online tests. 3D printing technology is used in this study to build prosthetic hands.</div>

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