Design and control of 6DOF Upper Limb Prosthesis
Our project is the design and control of 6DOF upper limb prosthesis. A 3D printed prosthetic hand was made, with each finger being driven by a linear actuator. This project is being implemented on an amputee, using electromyography signal sensors, along with the processing of and contr
Project Title
Design and control of 6DOF Upper Limb Prosthesis
Project Area of Specialization
Project Summary
Our project is the design and control of 6DOF upper limb prosthesis. A 3D printed prosthetic hand was made, with each finger being driven by a linear actuator.
This project is being implemented on an amputee, using electromyography signal sensors, along with the processing of and control using the signals acquired.
Project Objectives
The objective of the project is to implement a higher functional prosthesis on an amputee as compared to a mechanical gripper, which just offers full open and full close modes. As compared to other solutions in the market which cost around $4,000-10,000, this is a relatively cheaper solution.
Project Implementation Method
The project has been implemented using
-3D printed hand
-Controlled using motor drivers and atmel microcontroller
-Signal acquired using resuable emg sensors with built in amplifier.
-Custom socket made for amputee to ensure good fitting
Benefits of the Project
-Empowering amputees to perform daily tasks using the functionality of a human hand.
-Enabling amputees to perform various gestures and grip patterns
-Aiding amputees to recover from trauma by bringing back lost functionality due to loss of limb.
Technical Details of Final Deliverable
-Developed algorithm for 4-5 grip patterns and gestures.
-Feedback signal for soft and hard grips (ie egg holding vs heavy weight holding)
-Algorithms for noise removal from acquired signal
-Atmega328P used to control and drive linear actuators as well as process emg signal using ADC.
Final Deliverable of the Project
Type of Industry
Technologies
Sustainable Development Goals
Required Resources
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| 3D Printed Hand | Equipment | 1 | 40000 | 40000 |
| PCB Fabrication including components | Equipment | 5 | 1000 | 5000 |
| Linear Actuators | Equipment | 5 | 4000 | 20000 |
| Miscellaneous (overheads, stationary) | Miscellaneous | 1 | 10000 | 10000 |
| EMG Sensor | Equipment | 1 | 5000 | 5000 |
| Total in (Rs) | 80000 |
If you need this project, please contact me on contact@adikhanofficial.com
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