Metrological issues concerning low cost EMG-controlled prosthetic hand

The paper deals with the realization of low-cost hand prosthesis for amputee people living in developing countries. In particular, the problems associated with the implementation of acquisition, processing and actuation blocks capable of assuring suitable performance in terms of reliability with a reduced budget have been faced and solved. To this aim, a specific architecture, based on a microcontroller PIC18F23K22 by Microchip, is implemented and described. Particular attention is paid on the conditioning block adopted, due to the very low amplitude signals associated with myoelectric phenomena. To this aim, a suitable calibration procedure is proposed to overcome the problems associated with the dependence of myoelectric signals with the specific amputee perso

Design and assessment of a low-cost, electromyographically controlled, prosthetic hand

The study reported here explored the design and realization of a low-cost, elec-tromyographically controlled hand prosthesis for amputees living in developing countries. The developed prosthesis is composed of a light aluminum structure with opposing fingers connected to a DC motor that imparts only the movement of grasp. Problems associated with surface electromyographic signal acquisition and processing, motor control, and evaluation of grasp force were addressed, with the goal of minimizing cost and ensuring easy assembly. Simple analog front ends amplify and condition the electromyographic signals registered from two antagonist muscles by surface electrodes. Analog signals are sampled at 1 kHz and processed by a microcontroller that drives the motor with a supply voltage proportional to the muscular contraction, performing the opening and closing of the opposing fingers. Reliable measurements of the level of muscle contractions were obtained by specific digital processing: real-time operators implementing the root mean square value, mean absolute value, standard deviation, and mean absolute differential value were compared in terms of efficiency to estimate the EMG envelope, computational load, and time delay. The mean absolute value operator was adopted at a time window of 64 milliseconds. A suitable calibration procedure was proposed to overcome problems associated with the wide variation of electromyograph amplitude and background noise depending on the specific patient's muscles selected. A pulse-width modulated signal drives the DC motor, allowing closing and opening of the prosthesis. The relationship between the motor-driver signal and the actual hand-grasp force developed by the prosthesis was measured using a hand-held grip dynamometer. The resulting force was proportional to current for moderate values of current and then saturated. The motor torque, and, in turn, the force elicited, can be measured by sensing the current absorbed by the motor. Therefore, the grasp force can be opportunely limited or controlled. The cost of the only electronic and mechanical components of the electromyographically controlled hand was about US$50; other costs, such as the cost of labor to assemble the prosthesis and the production of adapters for patients, were not estimated

Experimental study to improve "Federica" prosthetic hand and its control system

Modern 3D printing technologies and wide availability of microcontroller boards allow to make active prosthetic devices in a simple way. This is the case of “Federica”, a very low-cost, under-actuated, active hand prosthesis. The five fingers of the prosthesis are moved by a single motor through inelastic tendons. The control system of the prosthesis is proportional to muscle contraction: firstly, EMG was used, then mechanical sensors that measure muscle volumetric variation were successfully utilized. This prosthesis proved to be particularly energy efficient and fast; it provided a general grasp function by adapting the exerted forces, thus allowing to easily catch even deformable objects. This study presents further analyses and design improvements of this prosthesis. In particular, a new, extremely simple but effective conditioning system of a force sensor resistor was presented and tested. In addition, the actual three-dimensional kinematics of a single finger was captured by means of high frame rate cameras and then analyzed. The new sensor conditioning system was characterized. It proved to be as effective as the EMG envelope to proportionally control the hand prosthesis motion, and it allowed an easier connection to common microcontroller boards. Kinematic analysis allowed to accurately reconstruct the actual phalanges motion over time

Open platform, 32‐channel, portable, data‐logger with 32 PGA control lines for wearable medical device development

A compact isolated low-power 32-channel 16-bit data-logging system around an NXP ARM processor (LPC1768) and four of the linear technology octal analogue-to-digital converters (ADCs) LTC1857/58/59 is designed. The system requires only 250 mA when powered at 5 V to run at full power (including a capacitive 2.8 inch touch-screen display and 32 Gb SHDC SD memory card). The sample rate is configurable up to 1 k SPS per channel as well as voltage dynamic input up to ±10 V; additionally, 32 chip select lines (SPI protocol) individually addressable and controllable while sampling to configure userdesigned programmable gain amplifiers (PGAs) are available. Collaboration is being sought to improve the software capabilities, particularly to enrich the very basic user interface and to add wireless connectivity. The code is available (under the GPL licence) at our repository, the gerber file to reproduce the PCB is available (on the As-Is basis) on request. The galvanic isolation between the power supply data connection and ADC channels makes the data-logger also compatible with the main powered PCs, hence it is suitable for the implementation of medical devices at least for the prototyping and initial testing stages