CSCI303 Brookhaven College Prosthetic Arm Presentation

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CSCI303

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Create good power point of attach written file about prosthetic arm. this document about the technical report i had already written. you have just quickly read and make good power-point of the document for the presentation. power point file should be exist name File name: LastName_First and Second Initial_PP1.pptx the file extension could also be .pdf

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Khatri1 Name : Rajendra B Khatri Class : CSCI-303 Professor : Dr. R. Daniel Creider PROSTHETIC ARM Abstract: This project focuses on the design of a myogenic prosthetic arm to mimic the movement of the human arm. The number of patients having upper limb amputations has been increased due to large number of accidents. The initial designs of prosthetic hands have minimal usability and are costly. This paper provides the source for a prosthetic limb by examining alternative mechanisms for acquiring and transmitting data. The prosthetic arm is designed to provide the tactile perceptions experienced by the human body by integrating a network of sensors into the nervous system. Arm operates based on feedback received from these sensors. Coordinate reference systems are used for the transformation of input signals into the desired output. Many models have been proposed that work using electromyogenic (EMG) signals generated by muscle contractions. All the designs proposed have some flaws, but they have improved. EMG based prosthetic arm exhibits a full range of motion required to grab an object. It has also increased the degree of freedom and the number of grip patterns. In addition to driven thumb roll articulation, which is not seen in commercial products, it includes five independently actuated fingers. INTRODUCTION The prosthesis is a medical device that structurally and functionally replaces an arm. The hand is a complex part of the human body. There are many people who have lost limbs Khatri2 through accidents or by birth and face a lot of problems in performing the normal activities of life. Due to advances in engineering and computer science technology, prosthetic limbs are designed as a substitute so that amputees can perform normal activities easily. The previously designed prosthetic hands are very costly and are not affordable for many individuals. Our main goal is to develop a cost-effective prosthetic hand that would be easy to manufacture and maintain. Furthermore, it must be able to carry out daily life activities (Gargiulo et al., 2013). There are four types of prostheses depending on missing part. Our design is used particularly for trans-radial amputation. A trans-radial prosthesis replaces an arm below the elbow ("Prostheses Prosthetics: Artificial Limb Information", 2019). The hand must use sensor to read the muscle activities to cause movements. The data obtained from sensors is used for interpreting muscle movements. Many experimental hands use the EMG signal pattern recognition system to discern the motion or gesture of the hand. This approach is difficult to implement because of the limited hardware memory in the microcontroller. Researchers are trying to improve the previously designed prosthetic arms but despite these technological advances, they are still limited in terms of the sensory feedback received, degrees of freedom and methods of distinguishing various grip patterns of human hands. Most amputees expressed a desire for improved mobility, higher grasping speeds and powers, natural movement and object contact and enhanced cosmetic appearance. Some improvements have been made to increase the degrees of freedom and reduce the weight of the prosthetic arm, for example, many prosthetic hands are using underactuated mechanisms and shape memory alloy actuators. The upper limb prostheses still have enough room for improvement. This paper describes the improvements in the design of prosthetic arms due to advances in computer science technologies. LITERATURE REVIEW Khatri3 The prosthetic counterparts of the hands have undergone significant evolution and practical advances due to its crucial role in controlling and handling of an object. Many institutions have done research on the design and construction of the robotic arm. The previously designed prosthetics were either functional or cosmetically appealing and their focus was on the mechanical problems that are functioning and designing. There are basically three types of prosthetics that are cosmetic prosthetics, body-powered prosthetics and myogenic prosthetics (2019). Cosmetic Prosthesis They are intended for those people who need them to carry out only the major functions of the body. They are inexpensive but can only be used for holding light objects as they offer limited degrees of motion (2019). Body-powered prosthesis Body-powered prosthetics are the most widely used, simplest and most commercially available prostheses that allow for a greater degree of freedom using cables that operate the prosthetic arm through muscles relative to the region. Body-powered hooks were functionally capable, but they did not imitate the human hand's size or shape. It is powered by a cable and harness system ("Hanger Clinic", 2019). Exaggerated movement of the body pulls a hook or hand opening cord. Relaxing the tension on the cable close the hook or hand. A lot of energy is required to operate the prosthesis thus producing more strain on the amputee's body which can cause shoulder problems and unbalance the anterior muscles (Salem, Mohamed, Mohamed & El Gehani, 2013) (Lake & Dodson, 2006). Myoelectric Prosthetics Khatri4 The myoelectric prosthesis does not require the patient to perform strenuous muscle contractions instead it exploits the residual muscles of the amputated limb's capacity for electrical activity. The prothesis amplifies the signal when the action potentials are given and use the electrical signals to drive the motors operating the corresponding arm part. Myoelectric prosthesis allows for a much higher degree of freedom as compared to the other types. They are typically more powerful than the traditional ones ("Myoelectric Prosthesis", 2019). Electromyography Electromyography (EMG) is the measure of signals of muscle activity with the help of electrodes to detect changes in the muscle to control the movement of the hand. The signal is detected by placing electrodes on the surface of the skin surface. Electrodes and sensors make electrical contact with the skin, with two of them in a target muscle and the third closer to the corresponding bone. Because the EMG surface is non-invasive, it is the most common and effective technique used to program a prosthesis. Electrodes are made of stainless steel and feel the muscle's movement. The signal obtained is very small, so differential amplifiers are needed to increase the size of signal. The EMG is decoded to produce a voltage that matches the corresponding operation of the muscle. The muscle fiber responses activate the sensors of the electrode; the resulting signals are decoded and processed. One downside is that the signal strength depends on the performance of the voltage and the contractions of the muscle. The initial designs of myogenic prosthetic arms have a limited number of degrees of freedoms and it lacked functionality. The early designs were only able to open and close the hand due to which amputees preferred body-powered prosthetics instead of using myogenic prosthetics. Some designs were based on a switch that performs the opening and closing motion of the hand. The reason behind this was the lack of technology. With the advances in computer sciences Khatri5 technology, thousands of amputees can perform daily activities of life that they never dreamed would be possible again. Patients who are physically challenged can now return to whatever they want to do. Today’s prosthetics provide improved functionality along with greater degrees of freedom. Using biosensors, controllers, and actuators, the myoelectric prosthetics can conduct a wider range of gestures ("An Introduction to the Biomechanics of Prosthetics", 2019). There are five types of grasps to perform the basic functions namely pinch, lateral, hook, spherical and cylindrical grasp (Cloutier & Yang, 2013). All these grasps are performed by the electrical activity of the muscles. The bionic hand uses electrodes to capture weak electrical signals from the amputee's arm, which after sampling and filtering is passed to a miniature device (Keerthana, Rubi, Srividhya & Priya, 2019). The final signal obtained is then passed to the servo motors and on the basis of this signal, the servo motors perform the desired gesture. The computer's machine learning algorithm interprets the signals and generates the set of instructions that the prosthetic hand needs. The patient is not only allowed to move in the direction he wants, but it can also control the speed of the motion. The advantage of using myoelectric based prosthetics is that it does not require an invasive procedure and the disadvantage is that the signals must be received from the nervous system by muscle contractions which can lead to involuntary movements ("Literature Review on Prosthetic Limbs", 2019). A large number of prosthetic hand models have been designed using different methods of actuation. Some of them are the Novel Dexterous, Be-bionic, e-Nable and Michelangelo hand. The Novel Dexterous Hand uses motors to operate the finger joints. These motors are attached through cables much like the tendons in the human hand. With the help of a series of cables, the movement of motors is transmitted to the fingers. Some designs, for example, Anthroform Arm have actuators that directly transmit the power to the joint. It uses pneumatic 'muscles' to imitate Khatri6 the human arm's muscles that are directly connected to the bones. They have also used wires made up of Shape Memory Alloy (SMA) to provide strength and to transmit motion. When heated, these wires contract and return to their initial shape on cooling. Most prostheses are controlled using non-intuitive methods. No research has been found investigating prosthesis control directly from the neural network of the body. The Be-bionic hand is a myoelectrical operated prosthetic hand in which all fingers are guided. Gears and leadscrews move the fingers independently with 4 selectable grip settings. The e-Nable hand is available to the public freely. It is entirely operated by the body and operates by the flexing of muscles in the stump region of an amputee. Michelangelo hand also works based on EMG signal with actively driven index finger, middle finger and thumb while the other fingers are passively followed by the ring and pink finger (Herath, Gopura & Lalitharatne, 2018). Although many manufacturing methods are available for manufacturing prosthetics, 3D printing has become popular in recent years due to the increase in rate at which prosthetic hands design can be prototyped. From the research, we also concluded that our model should be able to allow adaptability based on the amputee's needs depending on what their device should require. Therefore, the prosthetic hand can be modified. This project is trying to lay the foundation for an arm with an intuitive control method that can imitate the human arm (Cloutier & Yang, 2013). CONCLUSIONS The prosthesis is a major research area that improves the strength and recovers the amputee's usability. The project has shown effectively the value of hand design as well as design improvements. By placing electrodes on the skin, we have acquired EMG signals of finger gripping movements. After this, raw EMG signals obtained were amplified and rectified using an EMG acquisition circuit. Bio-signals serve as a driving force, thereby transmitting the nerve Khatri7 signals to accomplish the mission. A microprocessor controls this form of the prosthesis and DC motors control the finger motion in turn. Different finger movements are controlled using servo motors. The myogenic EMG based prosthetic arms have improved the life of amputees by providing them with an artificial limb with increased functionality and many other features. The main requirement of this hand is to provide the natural hand's flexibility so that amputees can also perform daily life activities easily and efficiently. REFERENCES An Introduction to the Biomechanics of Prosthetics. (2019). Retrieved 9 October 2019, from https://www.azorobotics.com/article.aspx?ArticleId=11 Cloutier, A., & Yang, J. (2013). Design, Control, and Sensory Feedback of Externally Powered Hand Prostheses: A Literature Review. Critical Reviews In Biomedical Engineering, 41(2), 161181. doi: 10.1615/critrevbiomedeng.2013007887 Gargiulo, G., Polisiero, Bifulco, Liccardo, Cesarelli, & Romano et al. (2013). Design and assessment of a low-cost, electromyographically controlled, prosthetic hand. Medical Devices: Evidence And Research, 97. doi: 10.2147/mder.s39604 Hanger Clinic. (2019). Retrieved 19 October 2019, from http://www.hangerclinic.com/limbloss/adult-upper-extremity/Pages/Body-Powered-Protheses.aspx Khatri8 Herath, H., Gopura, R., & Lalitharatne, T. (2018). An Underactuated Linkage Finger Mechanism for Hand Prostheses. Modern Mechanical Engineering, 08(02), 121-139. doi: 10.4236/mme.2018.82009 Keerthana, A., Rubi, J., Srividhya, & Priya, S. (2019). Design and Development of Low cost Prosthetic Hand controlled by Myoelectric Signal. Indian Journal Of Public Health Research & Development, 10(5), 796. doi: 10.5958/0976-5506.2019.01110.0 Lake, C., & Dodson, R. (2006). Progressive Upper Limb Prosthetics. Physical Medicine And Rehabilitation Clinics Of North America, 17(1), 49-72. doi: 10.1016/j.pmr.2005.10.004 Literature Review on Prosthetic Limbs. (2019). Retrieved 19 October 2019, from https://www.ukessays.com/dissertation/full-dissertations/literature-review-prostheticlimbs.php#citethis Myoelectric Prosthesis. (2019). Retrieved 19 October 2019, from http://bme240.eng.uci.edu/students/10s/slam5/types.html Khatri9 Prostheses - Prosthetics: Artificial Limb Information. (2019). Retrieved 9 October 2019, from https://www.disabled-world.com/assistivedevices/prostheses/ Salem, F., Mohamed, K., Mohamed, S., & El Gehani, A. (2013). The Development of BodyPowered Prosthetic Hand Controlled by EMG Signals Using DSP Processor with Virtual Prosthesis Implementation. Conference Papers In Engineering, 2013, 1-8. doi: 10.1155/2013/598945 (2019). Retrieved 19 October 2019, from https://www.llop.com/prosthetics/
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PROSTHETIC ARM

BY
RAJENDRA B KHATRI
CSCI-303
PROFESSOR: DR. R. DANIEL CREIDER

Introduction
• The hand is a complex part of the human body, whose importance is
known to us all.
• It is, however, unfortunate that many people have lost limbs, maybe
through accidents or by birth, making it difficult to perform the
normal activities of life.
• For this reason prosthetics has become an important field of
medicine, with focus being shifted on the use of the technology in
design and development of more efficient and cost-effective
(affordable) prosthetic limbs.
Oct. 2019

2

Problem Statement
• The significance of a human arm are numerous. Arms are used to
reach out, grasp, move and manipulate objects making it easy to
perform tasks.
• However, some people are disadvantaged to have been born without
an arm(s), while others have undergone amputations as a result of
accidents.
• The cost of replacing these vital organs is high as the previously
designed prosthetic arms are very costly and are not affordable for
many individuals.
Oct. 2019

3

Research Justification
• In an attempt to find a cheaper and efficient way of helping
amputees, the design of a myogenic prosthetic arm is being explored.
• Use of a myogenic prosthetic arm will help counter cost problems
associated with the use of the previously made designs.
• Additionally, the prosthetic arm will improve the mobility and
flexibility of the aforementioned individuals hence improve their lives
a great deal.

Oct. 2019

4

Objective
Main Objective
• To lay a foundation for the design of a myogenic prosthetic arm with
an intuitive control method that can imitate the human arm.

Oct. 2019

5

Literature Review
• There are basically three types of prosthetics: cosmetic prosthetics, bodypowered prosthetics and myogenic prosthetics (Keerthana et al., 2019).
Cosmetic prosthetics
✓Intended for people who need them to carry out only the major functions of the
body.
✓Are inexpensive.
✓Offer limited degrees of motion, hence, can only be used for holding light objects.
Body-powered prosthetics
✓Most widely used, simplest and most commercially available prostheses.
✓Uses cables to allow for a greater degree of freedom (Hanger Clinic, 2019).
Oct. 2019

6

Literature Review Cont.’
Body-powered prosthetics (cont.’)
✓Requires a lot of energy is to operate. This can unbalance anterior muscles
and cause shoulder problems (Salem et al., 2013).
Myoelectric Prosthetics
✓Exploits the residual muscles of the amputated limb's capacity for electrical
activity.
✓The prothesis amplifies the signal when the action potentials are given.
✓It uses electrical signals to drive the motors operating the corresponding
arm part.
✓It allows for a much higher degree of freedom as compared to the other
types (Myoelectric Prosthesis, 2019).
Oct. 2019

7

Electromyography (EMG)
Electromyography (EMG)
• Refers to the measure of signals of muscle activity with the help of
electrodes to detect changes in the muscle to control the movement
of the hand.
• It involves the use of electrodes to read muscle activity. The signal
obtained is fed into differential amplifiers to increase it’s size. The
data is then fed into a computer that processes it.
• EMG surface is non-invasive, hence, , it is the most common and
effective technique used to program a prosthesis.
Oct. 2019

8

Electromyography (EMG)
Electromyography (EMG)

Oct. 2019

9

Prosthetics
• Initial designs of myogenic prosthetic arms had a limited number of
degrees of freedoms and lacked functionality.
• They were only able to open and close, due to a limitation in
technology.
• With advancements in technology, today’s prosthetics provide
improved functionality, along with greater degrees of freedom.
• Myoelectric prosthetics can conduct a wider range of gestures with
the help of biosensors, controllers, and actuators (An Introduction to
the Biomechanics of Prosthetics, 2019).
Oct. 2019

10

Prosthetics
• Myoelectric prosthetics can perform basic functions using 5 types of
grasps, by the electrical activity of muscles: pinch, lateral, hook,
spherical and cylindrical grasp (Cloutier & Yang, 2013).
• A gesture on a myoelectric arm involves a series of steps. Electrodes
capture weak electrical signals from the amputee's arm, sampling and
filtering of the signals takes place and they are then passed to a
miniature device (Keerthana et al, 2019).
• The final signal obtained is then passed to the servo motors, that
perform the desired gesture.
Oct. 2019

11

Prosthetics
Advantage(s) of using myoelectric based prosthetics
1. It does not require an invasive procedure.
Disadvantage(s) of using myoelectric based prosthetics
1. Signals must be received from the nervous system by muscle
contractions which can lead to involuntary movements.

Oct. 2019

12

Prosthetics
Examples of Prosthetic Hand Models
1. Novel Dexterous hand
2. Be-bionic hand
3. e-Nable hand
4. Michelangelo hand
NB: Most prostheses are controlled using non-intuitive methods. No
research has been found investigating prosthesis control directly from
the neural network of the body.
Oct. 2019

13

Conclusion
• Myogenic EMG based prosthetic arms offer increased functionality
and flexibility, hence, can improve lives of amputees by enhancing the
ease and efficiency of their daily activities.

Oct. 2019

14

Recommendation
• I also suggest...


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