scholarly journals A Multi-DoF Prosthetic Hand Finger Joint Controller for Wearable sEMG Sensors by Nonlinear Autoregressive Exogenous Model

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2576
Author(s):  
Zhaolong Gao ◽  
Rongyu Tang ◽  
Qiang Huang ◽  
Jiping He
Keyword(s):  
Sensory Information ◽  
Finger Joint ◽  
Prosthetic Hand ◽  
Prosthetic Hands ◽  
Mobility Function ◽  
Proposed Model ◽  
Marquardt Algorithm ◽  
The Time Domain ◽  
Nonlinear Autoregressive ◽  
Regression Correlation

The loss of mobility function and sensory information from the arm, hand, and fingertips hampers the activities of daily living (ADL) of patients. A modern bionic prosthetic hand can compensate for the lost functions and realize multiple degree of freedom (DoF) movements. However, the commercially available prosthetic hands usually have limited DoFs due to limited sensors and lack of stable classification algorithms. This study aimed to propose a controller for finger joint angle estimation by surface electromyography (sEMG). The sEMG data used for training were gathered with the Myo armband, which is a commercial EMG sensor. Two features in the time domain were extracted and fed into a nonlinear autoregressive model with exogenous inputs (NARX). The NARX model was trained with pre-selected parameters using the Levenberg–Marquardt algorithm. Comparing with the targets, the regression correlation coefficient (R) of the model outputs was more than 0.982 over all test subjects, and the mean square error was less than 10.02 for a signal range in arbitrary units equal to [0, 255]. The study also demonstrated that the proposed model could be used in daily life movements with good accuracy and generalization abilities.

scholarly journals Next-Generation Prosthetic Hand: from Biomimetic to Biorealistic

Research ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-4
Author(s):  
Ning Lan ◽  
Manzhao Hao ◽  
Chuanxin M. Niu ◽  
He Cui ◽  
Yu Wang ◽  
...  
Keyword(s):  
Sensory Information ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Grand Challenge ◽  
Sensorimotor System ◽  
Next Generation ◽  
Ongoing Research ◽  
Sensory Awareness ◽  
Prosthetic Hands ◽  
Significant Step

Integrating a prosthetic hand to amputees with seamless neural compatibility presents a grand challenge to neuroscientists and neural engineers for more than half century. Mimicking anatomical structure or appearance of human hand does not lead to improved neural connectivity to the sensorimotor system of amputees. The functions of modern prosthetic hands do not match the dexterity of human hand due primarily to lack of sensory awareness and compliant actuation. Lately, progress in restoring sensory feedback has marked a significant step forward in improving neural continuity of sensory information from prosthetic hands to amputees. However, little effort has been made to replicate the compliant property of biological muscle when actuating prosthetic hands. Furthermore, a full-fledged biorealistic approach to designing prosthetic hands has not been contemplated in neuroprosthetic research. In this perspective article, we advance a novel view that a prosthetic hand can be integrated harmoniously with amputees only if neural compatibility to the sensorimotor system is achieved. Our ongoing research supports that the next-generation prosthetic hand must incorporate biologically realistic actuation, sensing, and reflex functions in order to fully attain neural compatibility.

A mechanism to compensate undesired stiffness in joints of prosthetic hands

2013 ◽  
Vol 38 (2) ◽  
pp. 96-102 ◽  
Author(s):  
Gerwin Smit ◽  
Dick Plettenburg ◽  
Frans Van der Helm
Keyword(s):  
Polyvinyl Chloride ◽  
Finger Joint ◽  
Negative Stiffness ◽  
Prosthetic Hand ◽  
Total System ◽  
Control Effort ◽  
Prosthetic Hands ◽  
Optimal Setting ◽  
Negative Stiffness Mechanism ◽  
Input Torque

Background:Cosmetic gloves that cover a prosthetic hand have a parasitic positive stiffness that counteracts the flexion of a finger joint.Objectives:Reducing the required input torque to move a finger of a prosthetic hand by compensating the parasitic stiffness of the cosmetic glove.Study design:Experimental, test bench.Methods:The parasitic positive stiffness and the required input torques of a polyvinyl chloride glove and a silicone glove were measured when flexing a metacarpophalangeal finger joint for 90°. To compensate this positive stiffness, an adjustable compensation mechanism with a negative stiffness was designed and built. A MATLAB model was created to predict the optimal settings of the mechanism, based on the measured stiffness, in order to minimize the required input torque of the total system. The mechanism was tested in its optimal setting with an applied glove.Results:The mechanism reduced the required input torque by 58% for the polyvinyl chloride glove and by 52% for the silicone glove. The total energy dissipation of the joint did not change significantly.Conclusions:This study shows that the undesired positive stiffness in the joint can be compensated with a relatively simple negative stiffness mechanism, which fits inside a finger of a standard cosmetic glove.Clinical relevanceThis study presents a mechanism that compensates the undesired stiffness of cosmetic gloves on prosthetic hands. As a result, it requires less input force, torque and energy to move the fingers. Application of this mechanism in body-powered hands will reduce the control effort of the user.

scholarly journals Recent Advances in Myoelectric Control for Finger Prostheses for Multiple Finger Loss

2021 ◽  
Vol 11 (10) ◽  
pp. 4464
Author(s):  
Viritpon Srimaneepong ◽  
Artak Heboyan ◽  
Azeem Ul Yaqin Syed ◽  
Hai Anh Trinh ◽  
Pokpong Amornvit ◽  
...  
Keyword(s):  
Web Of Science ◽  
Myoelectric Control ◽  
Original Research ◽  
Prosthetic Hand ◽  
Precise Control ◽  
Prosthetic Hands ◽  
Prosthesis Retention ◽  
Finger Prosthesis ◽  
Artificial Hand

The loss of one or multiple fingers can lead to psychological problems as well as functional impairment. Various options exist for replacement and restoration after hand or finger loss. Prosthetic hand or finger prostheses improve esthetic outcomes and the quality of life for patients. Myoelectrically controlled hand prostheses have been used to attempt to produce different movements. The available articles (original research articles and review articles) on myoelectrically controlled finger/hand prostheses from January 1922 to February 2021 in English were reviewed using MEDLINE/PubMed, Web of Science, and ScienceDirect resources. The articles were searched using the keywords “finger/hand loss”, “finger prosthesis”, “myoelectric control”, and “prostheses” and relevant articles were selected. Myoelectric or electromyography (EMG) signals are read by myoelectrodes and the signals are amplified, from which the muscle’s naturally generated electricity can be measured. The control of the myoelectric (prosthetic) hands or fingers is important for artificial hand or finger movement; however, the precise control of prosthetic hands or fingers remains a problem. Rehabilitation after multiple finger loss is challenging. Implants in finger prostheses after multiple finger loss offer better finger prosthesis retention. This article presents an overview of myoelectric control regarding finger prosthesis for patients with finger implants following multiple finger loss.

Hand Prosthetic Design for Transradial Amputee by Using 3D Printing Technology to Enhance Life Quality

2021 ◽  
Vol 14 (2) ◽  
pp. 87-94
Author(s):  
Triwiyanto Triwiyanto ◽  
Torib Hamzah ◽  
Sari Luthfiyah ◽  
Bedjo Utomo
Keyword(s):  
3D Printing ◽  
Life Quality ◽  
Monitoring And Evaluation ◽  
Banana Peel ◽  
Physical Parameters ◽  
Prosthetic Hand ◽  
Printing Technology ◽  
3D Printing Technology ◽  
Glucose Levels ◽  
Prosthetic Hands

The target for this community service program is a resident of Jl. Parikesit RT 05 RW 03 Dusun Picis, Balongdowo Village, Candi District, Sidoarjo Regency. He had a work accident in one of the industries in the city of Sidoarjo in 2010 on the left wrist up to the fingers, so the doctor suggested amputation. He is actually still in his productive age (36 years old) but because of this situation, he is unable to carry out activities in the world of work and has decreased confidence in himself and avoids socializing in society. The purpose of this community partnership program (PKM) activity is to apply 3d printing technology in the manufacture of prosthetic hands for people who have transradial amputations as an effort to improve the quality of life. The implementation methods used are: a) the measurement of several physical parameters on the amputee such as the diameter of the arm circumference, the length of the amputated part, weight and height. In addition to physical parameters, we also carry out medical measurements, including obtaining information on health conditions such as blood pressure, heart health and blood glucose levels, b) designing prosthetic hands using 3D application programs and 3D printers, c) mechanical and functional testing for perform basic movements in the form of opening and closing the palms, d) monitoring and evaluation of the use of prosthetic hands. The results obtained from this activity are that the patient can use the prosthetic hand to assist with activities in carrying out daily activities. In this PKM activity, amputees have been tested, namely the movement of holding a mineral water bottle, holding a banana, peeling a banana peel and driving a two-wheeled motorized vehicle. Monitoring shows that patients need regular exercise in using prosthetic hands so that they are able to control and condition their use. In the future, several developments can be made, including in terms of control and size of the prosthetic hand so that patients can feel the benefits of a prosthetic hand that functions like a normal hand.

scholarly journals Dynamics of Nonlocal Rod by Means of Fractional Laplacian

Symmetry ◽  
2020 ◽  
Vol 12 (12) ◽  
pp. 1933
Author(s):  
Vittorio Gusella ◽  
Giuseppina Autuori ◽  
Patrizia Pucci ◽  
Federico Cluni
Keyword(s):  
Fractional Laplacian ◽  
Free Vibrations ◽  
Dynamic Loads ◽  
Model Parameters ◽  
Local Response ◽  
Proposed Model ◽  
Fractional Models ◽  
Static And Dynamic Loads ◽  
The Difference ◽  
The Time Domain

The use of fractional models to analyse nonlocal behaviour of solids has acquired great importance in recent years. The aim of this paper is to propose a model that uses the fractional Laplacian in order to obtain the equation ruling the dynamics of nonlocal rods. The solution is found by means of numerical techniques with a discretisation in the space domain. At first, the proposed model is compared to a model that uses Eringen’s classical approach to derive the differential equation ruling the problem, showing how the parameters used in the proposed fractional model can be estimated. Moreover, the physical meaning of the model parameters is assessed. The model is then extended in dynamics by means of a discretisation in the time domain using Newmark’s method, and the responses to different dynamic conditions, such as an external load varying with time and free vibrations due to an initial deformation, are estimated, showing the difference of behaviour between the local response and the nonlocal response. The obtained results show that the proposed model can be used efficiently to estimate the response of the nonlocal rod both to static and dynamic loads.

Sensory system integration of the designed mechatronics Touch Hand

Sensor Review ◽  
2016 ◽  
Vol 36 (2) ◽  
pp. 158-168 ◽  
Author(s):  
Drew van der Riet ◽  
Riaan Stopforth ◽  
Glen Bright ◽  
Olaf Diegel
Keyword(s):  
Haptic Feedback ◽  
Low Cost ◽  
Pressure Sensors ◽  
Sensory System ◽  
Prosthetic Hand ◽  
Prototype System ◽  
Lower Income ◽  
Content Type ◽  
Prosthetic Hands ◽  
Lower Income Countries

Purpose This paper aims to explore the electronic design of the Touch Hand: a low-cost electrically powered prosthetic hand. The hand is equipped with an array of sensors allowing for position control and haptic sensation. Pressure sensors are used on the fingertips to detect grip force. A temperature sensor placed in the fingertip is used to measure the contact temperature of objects. Investigations are made into the use of cantilever vibration sensors to detect surface texture and object slippage. The hand is capable of performing a lateral grip of 3.7 N, a power grip of 19.5 N and to passively hold a weight of up to 8 kg with a hook grip. The hand is also tested on an amputee and used to perform basic tasks. The amputee took 30 min to learn how to operate the hands basic gripping functions. Design/methodology/approach Problems of previous prosthetic hands were investigated, followed by ways to improve or have similar capabilities, yet keeping in mind to reduce the price. The hand was then designed, simulated, developed and then tested. The hand was then displayed to public and tested with an amputee. Findings The Touch Hand’s capabilities with the usage of the low-cost materials, components and sensory system was obtained in the tests that were conducted. The results are shown in this paper to identify the appropriateness of the sensors for a usage while the costs are reduced. Furthermore, models were developed from the results obtained to take into account factors such as the non-slip material. Research limitations/implications The research was restricted to a US$1,000 budget to allow the availability of a low-cost prosthetic hand. Practical implications The Touch Hand had to have the ability to supply the amputee with haptic feedback while allowing the basic grasping of objects. The commercial value is the availability of an affordable prosthetic hand that can be used by amputees in Africa and other Lower-Income countries, yet allowing a more advanced control system compared to the pure mechanical systems currently available. Social implications The Touch Hand has the ability to give amputees affected in war situations the ability to grasp objects in a more affordable manner compared to the current available options. Feedback from amputees about the current features of the Touch Hand was very positive and it proves to be a way to improve society in Lower-Income countries in the near future. A sponsorship program is being developed to assist amputees with the costs of the Touch Hand. Originality/value The contributions of this research is a low-cost prototype system than can be commercialized to allow amputees in the Lower-Income countries to have the ability of a prosthetic hand. A sensory system in the hand is also explained which other low-cost prosthetic hands do not have, which includes temperature, force and vibration. Models of the sensors used that are developed and calibrated to the design of the hand are also described.

scholarly journals Modeling and Analysis of a Visual Feedback System to Support Efficient Object Grasping of an EMG-Controlled Prosthetic Hand

2019 ◽  
Vol 5 (1) ◽  
pp. 207-210
Author(s):  
Tolgay Kara ◽  
Ahmad Soliman Masri
Keyword(s):  
Visual Feedback ◽  
Low Cost ◽  
Feedback System ◽  
Hand Gesture ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Modeling And Analysis ◽  
Prosthetic Hands ◽  
Prosthetic Limbs ◽  
Computer Environment

AbstractMillions of people around the world have lost their upper limbs mainly due to accidents and wars. Recently in the Middle East, the demand for prosthetic limbs has increased dramatically due to ongoing wars in the region. Commercially available prosthetic limbs are expensive while the most economical method available for controlling prosthetic limbs is the Electromyography (EMG). Researchers on EMG-controlled prosthetic limbs are facing several challenges, which include efficiency problems in terms of functionality especially in prosthetic hands. A major issue that needs to be solved is the fact that currently available low-cost EMG-controlled prosthetic hands cannot enable the user to grasp various types of objects in various shapes, and cannot provide the efficient use of the object by deciding the necessary hand gesture. In this paper, a computer vision-based mechanism is proposed with the purpose of detecting and recognizing objects and applying optimal hand gesture through visual feedback. The objects are classified into groups and the optimal hand gesture to grasp and use the targeted object that is most efficient for the user is implemented. A simulation model of the human hand kinematics is developed for simulation tests to reveal the efficacy of the proposed method. 80 different types of objects are detected, recognized, and classified for simulation tests, which can be realized by using two electrodes supplying the input to perform the action. Simulation results reveal the performance of proposed EMG-controlled prosthetic hand in maintaining optimal hand gestures in computer environment. Results are promising to help disabled people handle and use objects more efficiently without higher costs.

A custom, functional and lifelike passive prosthetic hand for infants and small toddlers: Clinical note

2020 ◽  
Vol 44 (3) ◽  
pp. 180-184
Author(s):  
Arezoo Eshraghi ◽  
Jaeeun Yoo ◽  
James Klein ◽  
Ian Mckenzie ◽  
Gabrielle Sebaldt ◽  
...  
Keyword(s):  
Additive Manufacturing ◽  
Upper Limb ◽  
Low Cost ◽  
Prosthetic Hand ◽  
Functional Requirements ◽  
Infants And Toddlers ◽  
Clinical Note ◽  
Alloy Wire ◽  
Prosthetic Hands ◽  
Limb Deficiencies

Background and Aim: For infants and small toddlers with congenital upper limb deficiencies, terminal devices mainly provide either cosmesis or functionality. We report a clinical note about fitting a child with a low-cost passive hand targeting both functionality and cosmesis. Technique: An elastomeric, alloy-wire-reinforced hand was fabricated using additive manufacturing to allow independent positioning of the digits. A clinical pilot in-home evaluation was conducted on a child with upper limb loss. Discussion: The fabricated hand met the functional requirements but required a cover for cosmesis due to a poor surface finish associated with the fabrication technique. The participant child was comfortable using the prosthesis for various tasks. The parents were satisfied with the hand’s function and cosmesis when covered with a cosmetic glove. This work demonstrated a new design and process that may in the future improve the utilization of prosthetic hands to promote early prosthesis use and a child’s development. Clinical relevance Early prosthesis use is important for infants and toddlers. Additive manufacturing may enable the fabrication of custom passive prosthetic hands that provide both cosmesis and functionality.

Quick, Cheap, and Creative Development for Robotics Education: Understanding and Experiencing Prosthetics Technology

2011 ◽  
Vol 23 (5) ◽  
pp. 850-858 ◽  
Author(s):  
Kojiro Matsushita ◽  
Keyword(s):  
High School ◽  
Middle School ◽  
High School Students ◽  
University Students ◽  
Prosthetic Hand ◽  
School Students ◽  
Creative Development ◽  
Robotics Education ◽  
Prosthetic Hands ◽  
Precision Design

In this paper, we propose a cheap, quick, and creative developmental kit for prosthetic applications, and we report on demonstrations in robotics education based on it. The proposed kit consists of an Electro-Myo-Graphic (EMG) sensor, an EMG-to-motor controller, and a wire-driven device. It is designed to be used to provide robotics courses to help middle school / high school / university students to understand today–s science and technology – especially prosthetics technology. The concept of prosthetics technology is generally difficult for participants to understand, so we provide the following three demonstrations in the course: (1) “Simple Prosthetic Hand” is an imitation of the most common commercially-available electric prosthetic hand. The “Simple Prosthetic Hand” illustrates that a low-precision design can be inexpensive to produce yet appropriate for the understanding of prosthetic hand technology. (2) The “Rock-Scissors-Paper Prosthetic Hand” indicates research-target prosthetic hands. It clearly delivers EMG-to-motion discrimination processes. (3) The “EMG Presbyopia Spectacles” exemplify the concept that even beginners can possibly use unique ideas to design creative prosthetic applications based on daily activities. The participants’ interactions with these three demonstrations contribute to their understanding the concept of prosthetic application. We have conducted the educational courses for middle school, high school, and university students. For middle and high school students, we have provided 2-hour lectures, and the demonstrations have helped the participants to understand why and how prosthetic applications work. For university students, we have provided a 6-hour robot design course with the kit. The participants have built both simple and complicated structures, and they have enjoyed controlling them with their muscles.

scholarly journals The Development of Body-Powered Prosthetic Hand Controlled by EMG Signals Using DSP Processor with Virtual Prosthesis Implementation

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Fathia H. A. Salem ◽  
Khaled S. Mohamed ◽  
Sundes B. K. Mohamed ◽  
Amal A. El Gehani
Keyword(s):  
High Performance ◽  
State Of The Art ◽  
The Body ◽  
Prosthetic Hand ◽  
Prosthetic Hands ◽  
Emg Signal ◽  
Mechanical Hand ◽  
Fast Processing ◽  
Opening And Closing ◽  
Two Stages

The state of the art in the technology of prosthetic hands is moving rapidly forward. However, there are only two types of prosthetic hands available in Libya: the Passive Hand and the Mechanical Hand. It is very important, therefore, to develop the prosthesis existing in Libya so that the use of the prosthesis is as practical as possible. Considering the case of amputation below the elbow, with two movements: opening and closing the hand, this work discusses two stages: developing the operation of the body-powered prosthetic hand by controlling it via the surface electromyography signal (sEMG) through dsPIC30f4013 processor and a servo motor and a software based on fuzzy logic concept to detect and process the EMG signal of the patient as well as using it to train the patient how to control the movements without having to fit the prosthetic arm. The proposed system has been practically implemented, tested, and gave satisfied results, especially that the used processor provides fast processing with high performance compared to other types of microcontrollers.

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