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 Intraneural sensory feedback restores grip force control and motor coordination while using a prosthetic hand

2019 ◽  
Vol 16 (2) ◽  
pp. 026034 ◽  
Author(s):  
Francesco Clemente ◽  
Giacomo Valle ◽  
Marco Controzzi ◽  
Ivo Strauss ◽  
Francesco Iberite ◽  
...  
Keyword(s):  
Force Control ◽  
Sensory Feedback ◽  
Grip Force ◽  
Motor Coordination ◽  
Prosthetic Hand ◽  
Grip Force Control

Dynamic Investigation on a Pelton Runner: FEM Calculation and Experimental Results

2007 ◽  
Author(s):  
Emanuel Pesatori ◽  
Giorgio Turozzi ◽  
Paolo Pennacchi ◽  
Alessandro Tosi
Keyword(s):  
High Performance ◽  
Natural Frequencies ◽  
Numerical Data ◽  
Point Of View ◽  
Normal Operation ◽  
Mode Shapes ◽  
Modal Behavior ◽  
Dynamic Investigation ◽  
Strong Dynamic ◽  
Structural Point

The dynamical phenomena involving a Pelton runner during normal operation are getting more and more of concern in the design of such kind of turbines. In fact, the increasing of the performance required by the market imposes runner designs that can become critical from a structural point of view. Each bucket is subjected to a certain number of impulses per revolution corresponding to the number of nozzles. This high frequency load could lead to a strong dynamic response of the runner if some kind of resonance takes place. For these reasons, an accurate modal analysis is to be performed before the runner realization, in order to avoid any crack arising during operation. This paper describes how a new, high performance profiled Pelton runner was modeled and dynamically calculated by FEM code ANSYS in order to obtain its natural frequencies and mode shapes. Subsequently, the modal behavior of the runner was experimentally investigated by means of an impulse test on field. The natural frequencies were got by examinating the FFT of the response and the mode shapes were reconstructed according to the stored signals of the accelerometers. The match between the experimental and numerical data was pretty good.

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 Desenvolvimento de sistema de supervisão e controle de uma planta de produção de cachaça tradicional: inovação e multidisciplinaridade na abordagem de identificação e controle de processos

2018 ◽  
Vol 1 (39) ◽  
pp. 101
Author(s):  
Marcio Luiz Marques D'Assumpção ◽  
Fabiana De Moura ◽  
Helmuth Guido Luna Siebald ◽  
Eduardo Mazoni Andrade Marçal Mendes
Keyword(s):  
Point Of View ◽  
Process Models ◽  
Normal Operation ◽  
Supervision System ◽  
Research And Teaching ◽  
Usb Communication ◽  
Modelling Techniques ◽  
Identification Techniques ◽  
And Control ◽  
Physical Phenomena

The work presents a control and supervision system especially designed for a pilot plant of the traditional cachaça production. This plant is designed to develop multidisciplinary research aimed at improving the distillate beverage in copper still by understanding the dynamics of the biochemical and physical phenomena. The real-time acquisition of the input and the output data of the fermentation and distillation processes is carried out by an embedded platform based on available microcontrollers. These data are made available via USB communication network to a friendly data acquisition interface that can be used to develop process models, to execute simulations and to design controllers. From the point of view of research and teaching, the use of the system during normal operation of the plant allows the use of modelling and identification techniques to study the slow and fast dynamics exhibited by the processes of fermentation and distillation as well as the nonlinearities typical of such processes. In addition to that, actual instrumentation and control problems inherent to these processes are investigated via the control and supervision system. Finally, identification tests and modelling techniques applied to a real plant are shown and discussed in a multidisciplinary approach.

scholarly journals Energy production assessment in a complex hydropower development

2019 ◽  
Vol 22 (4) ◽  
pp. 725-737 ◽  
Author(s):  
Andrei-Mugur Georgescu ◽  
Sanda-Carmen Georgescu ◽  
Georgiana Dunca ◽  
Diana Maria Bucur ◽  
Alexandru Aldea
Keyword(s):  
Numerical Model ◽  
Energy Production ◽  
Point Of View ◽  
Hydropower Plant ◽  
Normal Operation ◽  
Centrifugal Pumps ◽  
Hydropower Development ◽  
Upstream Reservoir ◽  
Set Up ◽  
Pumped Storage

Abstract A complex multi-reservoir hydropower development (HPD) was studied from the point of view of energy production. The Gâlceag HPD system consists of three reservoirs, a high head hydropower plant (HPP) powered by two Francis turbines of 75 MW each, and a pumping station (PS) equipped with two centrifugal pumps of 10 MW each. The hydraulic system configuration is unusual: the PS discharge pipe conveys the water directly into HPP's penstock. Three operation scenarios were investigated: ① normal operation (with PS shutdown and HPP operational, as a conventional HPP), ② simultaneous operation (with both HPP and PS operational), and ③ pumped storage (with HPP shutdown and PS operational). Primarily, a numerical model was set up in EPANET to investigate the influence that the variation in the initial level of the HPP upstream reservoir has on the production of energy. In the sequel, a numerical model was derived and solved in GNU Octave to investigate the influence on the energy production of HPD due to initial levels of both the HPP upstream and downstream reservoirs. The results can be used in a decision support system to assess the overall operation of Gâlceag HPD based on water availability.

scholarly journals Chemical Forms of Important Fission Products in Primary Circuit of HTR-PM under Conditions of Normal Operation and Overpressure and Water Ingress Accidents: A Study with a Chemical Thermodynamics Approach

2019 ◽  
Vol 2019 ◽  
pp. 1-12
Author(s):  
Chuan Li ◽  
Wenqian Li ◽  
Lifeng Sun ◽  
Haoyu Xing ◽  
Chao Fang
Keyword(s):  
High Temperature ◽  
Fission Products ◽  
Point Of View ◽  
Normal Operation ◽  
Primary Circuit ◽  
Chemical Thermodynamics ◽  
Chemical Forms ◽  
Operational Conditions ◽  
Water Ingress ◽  
High Temperature Gas

The chemical forms of important fission products (FPs) in the primary circuit are essential to the source term analysis of high-temperature gas-cooled reactors because the volatility, transfer, and diffusion of these radionuclides are significantly influenced by their chemical forms. Through chemical reactions with gaseous impurities in the primary circuit, these FPs exist in diverse chemical forms, which vary under different operational conditions. In this paper, the chemical forms of cesium (Cs), strontium (Sr), silver (Ag), iodine (I), and tritium in the primary circuit of the Chinese pebble-bed modular high-temperature gas-cooled reactor (HTR-PM) under normal conditions and accident conditions (overpressure and water ingress accident) are studied with chemical thermodynamics. The results under normal conditions show that Cs exists mainly in the form of Cs2CO3 at 250°C and gaseous form at 750°C, and for I and Ag, Ag3I3 and Ag convert to gaseous CsI and AgO, respectively, with increasing temperature, while SrCO3 is the only main kind of compound for Sr. It is also observed that new compounds are generated under accidents: I exists in HI form when a water ingress accident occurs. Regarding tritium, the chemical forms of FPs change little, but compounds need higher temperature to convert. Furthermore, hazard of some FPs in different chemical forms is also discussed comprehensively in this paper. This study is significant for understanding the chemical reaction mechanisms of FPs in an HTR-PM, and furthermore it may provide a new point of view to analyze the interaction between FPs and structural materials in reactor as well as their hazards.

Legal Analysis of Attempt on the Life of Internal Affairs Officer as the Body of Criminal Offence

2020 ◽  
Vol 9 (3) ◽  
pp. 870
Author(s):  
Chingiz A. ISSABAYEV ◽  
Aidos A. YESKENDIROV ◽  
Zhanna B. SHAYAKHMETOVA ◽  
Bakhytbek A. BEGALIYEV ◽  
Zhanargul A. KHAMMETOVA
Keyword(s):  
Law Enforcement ◽  
Criminal Liability ◽  
Criminal Code ◽  
Point Of View ◽  
The Body ◽  
Normal Operation ◽  
Legal Analysis ◽  
Public Authorities ◽  
Internal Affairs ◽  
The Government

Disorganized crime impact on the society is provided by criminal pressure on law enforcement officials – from engagement in criminal networks, bribery, blackmail to their liquidation. Social danger of the offences studied is that it threatens the life of internal affairs officer to prevent him from professional duties for the law enforcement, intentionally destabilizes normal operation of public authorities, and undermines their authority in the public’s mind. The purpose of the article was to analyze the types and motives of attempts on an employee of internal affairs bodies from a legal point of view. To achieve the purpose, the opinions of other researchers who studied this problem were examined, as well as legal documents regulating crimes committed against employees of internal affairs bodies. It was noted inconsistencies in the evaluation of sanction measures against perpetrators responsible for offences provided for by p. 2, part 2, article 99 and part 1, article 380-1 of the Criminal Code of Kazakhstan. It was concluded that the strengthening of criminal liability will significantly affect the status of crime situation, enhance the government authority and strengthen overall prevention in the country.  

On the design of robotic hands for brain–machine interface

2006 ◽  
Vol 20 (5) ◽  
pp. 1-9 ◽  
Author(s):  
Yoky Matsuoka ◽  
Pedram Afshar ◽  
Michael Oh
Keyword(s):  
Brain Machine Interface ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Neural Signals ◽  
Robotic Hands ◽  
Intimate Contact ◽  
Machine Interface ◽  
Optimal Approach ◽  
And Control

✓ Brain–machine interface (BMI) is the latest solution to a lack of control for paralyzed or prosthetic limbs. In this paper the authors focus on the design of anatomical robotic hands that use BMI as a critical intervention in restorative neurosurgery and they justify the requirement for lower-level neuromusculoskeletal details (relating to biomechanics, muscles, peripheral nerves, and some aspects of the spinal cord) in both mechanical and control systems. A person uses his or her hands for intimate contact and dexterous interactions with objects that require the user to control not only the finger endpoint locations but also the forces and the stiffness of the fingers. To recreate all of these human properties in a robotic hand, the most direct and perhaps the optimal approach is to duplicate the anatomical musculoskeletal structure. When a prosthetic hand is anatomically correct, the input to the device can come from the same neural signals that used to arrive at the muscles in the original hand. The more similar the mechanical structure of a prosthetic hand is to a human hand, the less learning time is required for the user to recreate dexterous behavior. In addition, removing some of the nonlinearity from the relationship between the cortical signals and the finger movements into the peripheral controls and hardware vastly simplifies the needed BMI algorithms. (Nonlinearity refers to a system of equations in which effects are not proportional to their causes. Such a system could be difficult or impossible to model.) Finally, if a prosthetic hand can be built so that it is anatomically correct, subcomponents could be integrated back into remaining portions of the user's hand at any transitional locations. In the near future, anatomically correct prosthetic hands could be used in restorative neurosurgery to satisfy the user's needs for both aesthetics and ease of control while also providing the highest possible degree of dexterity.

Sign in / Sign up

Export Citation Format

Share Document