Simulación de la mano humana mediante Matlab/Simmechanics

La importancia de la simulación biomecánica en los últimos tiempos está creciendo, ya que varios proyectos de investigación se están centrando en el desarrollo de dispositivos mecánicos para la rehabilitación o ayuda a las funciones de movimiento del cuerpo humano. En este aspecto, es necesaria la simulación biomecánica para la comprensión de la mecánica y movimiento del cuerpo humano y el desarrollo de dichos dispositivos. En este proyecto de fin de grado se lleva a cabo la simulación de la mano humana, atendiendo a los aspectos más básicos y principales de esta. Se incluyen todos los músculos que el movimiento de la mano involucra, desde los alojados en el antebrazo, hasta los músculos intrínsecos de la mano, desarrollando estos sobre las bases del modelo muscular Hill. También consta de un trabajo de investigación, ya que es necesario recopilar los parámetros característicos de los músculos y hacer un estudio sobre la biomecánica de la mano humana. El modelo desarrollado incluye 29 segmentos que representan los huesos del antebrazo y la mano, 43 músculos y un total de 22 grados de libertad. Es un modelo pensado para su desarrollo en distintas etapas, siendo esta la primera, ya que en algunos aspectos se ha recurrido a diseños simplificados. Las pruebas realizadas al modelo reflejan su correcto funcionamiento en las fuerzas desarrolladas y las trayectorias seguidas por los segmentos de la mano. El modelo se ha desarrollado en Matlab, un entorno accesible y de fácil comprensión que, en la última fase del proyecto, permitirá su conexión con otros modelos de actuadores o exoesqueletos desarrollados.In recent times, the importance of biomechanics simulation is growing because several research projects are focusing on the development of mechanical devices for rehabilitation or support functions of human body movement. In this aspect, the biomechanical simulation is necessary to understand the mechanics and movement of human body and development of such devices. In this final degree project is carried out the simulation of the human hand, based on the most basic and key aspects of this. All muscles that the hand movement involved are included, from the muscles of the forearm to the intrinsic muscles of the hand. These muscles have been developed on the basis of the Hill muscle model. It also consists of a research project because it is necessary to collect the characteristic parameters of the muscles and make a study of the biomechanics of the human hand. The developed model includes 29 segments that representing the forearm and hand bones, 43 muscles and 22 degrees of freedom. This is a model thought for development at different stages, being this the first stage, because in some aspects has been used simplified designs. Tests on the model reflect their correct operation in the developed forces and the paths followed by the segments of the hand. The model has been developed on Matlab, an accessible and easy to understand environment that, in the last stage of the project, will allow connection with other developed models of actuators or exoskeletons.Ingeniería Electrónica Industrial y Automátic

The Development of a Brain Controlled Robotic Prosthetic Hand

An anthropomorphic, brain controlled, under actuated, Prosthetic hand has been designed and developed for upper extremity amputees. The hands function is based on micro servo actuation and the use of coupling links between parts of the finger. The control of a prosthetic hand is what differentiates this project from the others. It is the intent of this project to increase the sense of belonging between prosthesis and amputee by controlling the designed device by the brain of the amputee. The platform has been designed to use multiple force sensors to improve control. The project is a feasibility study and will be used to test whether a multi-functional and intuitive prosthetic hand is attainable. The control of the hand will be driven through a neural interface and controlled by a micro-board. This paper focuses on the mechanical design of the hand and the processes used to control the hand using signals emitted from the brain, to increase the sense of belonging between the amputee and prosthetic device. The hand has been developed as a foundation for future research into brain controlled prosthetics at the University of Waikato