biomechanical hand

7/28/2019 Biomechanical Hand

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INTRODUCTION

The objective is to develop an artificial handaimed at replicating the appearance and

performance of the natural hand or to

obtain a complete functional substitution

of the natural hand.


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HOW DOES IT WORK? Biomechatronic Hand Captures signals

from the brain coming through the nerves as

electric impulses These signals are read by a programmed

microcontroller which actuates the motors

in the hand Feedback signals in the Gripper reduces the

work of the user


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DESIGN OF THE

BIOMECHATRONIC HAND

ARCHITECTURE& ACTUATION

BIONICS

CONTROL


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ARCHITECTURE OF THE

BIOMECHATRONIC HAND Design : Stress Strain Analysis

Actuation : Pneumatic or servomotors

Pneumatic Prosthetic Arm Servo Prosthetic Arm


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ACTUATION SYSTEM

Heavy actuator system

Traditional

actuatorsOne/two DOFs

Low adaptability

Little contact

areas

Low grasp

robustness

Large forces


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Micro actuators Small forces

High graspstability

Rise in contact

areas

High grasp

stability

Rise in DOFs

Micro Actuation


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SENSORS

Sensors

Targeted Muscular reinnervation

for Bionics

1. Brain Command Bionic Sensors


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Brain Commands

Commands: Up, Down,Forward, Backward,Left ,Right

Close, Open


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Command : UP

11110000

Sensor

nerves

Sensor Calibration

oSensor reading for different commands in 3D space is noted down


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SensorMicrocontroller

( AVR 128)Motor Controller

Motor

Sensor to Motion

Motor

Motor


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SENSORS

2. Feedback Sensors

Feedback Sensors


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Feedback Sensors

SENSORS

Tactile sensors

Proximity and range sensors

Position sensors


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Control System

Actuator Gripper Sensors

feedback

ControlSystem

BionicSensors


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Major Considerations

- cosmetics

- controllability

- noiselessness

- lightness

- low energy consumption


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Challenges /scope for

improvement

Noise Elimination Remains a Challenge

Complex shaped objects pose a challenge

Prosthetic arms depend a lot on accurate

interpretation of brain signals which is still in a

sophomoric stage Hybrid Assistive Legs are more difficult due to

balancing problems


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CONCLUSION

The biomechatronic design approach can lead to

the development of hand and prostheses.

It requires low cost and low energy consumptionfor adequate autonomy (at least 8 hours between

recharges).


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REFERENCES

Introduction to Robotics, John J. Craig

Micromechatronics and System Dynamics

Lab, KAIST, South Korea

Internet , Wikipedia


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biomechanical hand

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