Prótesis activa de mano controlada mediante señales electromiográficas

Abstract

This research work shows the design, construction and implementation of an active hand prosthesis which will help people who have suffered the amputation of their upper limb as it is a functional prototype and not only aesthetic, it will also allow the beneficiary person to perform several of their daily activities. The development of the prosthesis is composed of 4 stages, in the first stage the electrodes are placed on the patient to acquire the electromyographic signals, in the second stage an EMG sensor is placed which is responsible for amplifying this from 1 mV peak to peak with a useful area in the frequency range from 20 Hz to 500 Hz, then, in the third stage, this analog signal is processed with a microcontroller which has a 10-bit ADC with which a digital analog conversion is performed to then control the fourth and last stage where 3 mechanically connected actuators with levers and gears are placed to simulate the main types of hand grip. For the elaboration of the hand prosthesis, 3D technologies are used for both the modeling and the fabrication of the parts. As for the casting material for the parts, a biodegradable component called PLA+ is used, which has acceptable strength properties and is also non polluting. The active hand prosthesis presents 4 selectable operation modes with 2 switches which allow the patient to simulate the main types of grasping such as cylindrical grasping, spherical grasping, pincer grasping and a special mode for grasping objects according to the analog output of the EMG sensor.