Prosthetic Grasping of Objects using Integrated sEMG and Vision

Project Title

Prosthetic Grasping of Objects using Integrated sEMG and Vision

Project Area of Specialization Wearables and ImplantableProject Summary

The aim of this project is to improve the clinical acceptance of a multifingered Prosthetic Hand through sensor fusion techniques. The system measures the electrical activity of the forearm muscles and also detects the shape of object to be grasped. A microprocessor based system then decides the best possible hand gesture to grasp the object.

sEMG signals are detected and amplified by indigenously developed electrodes. sEMG signals are processed to recognize hand gestures. Actuators such as motors are then controlled for individual   finger movements resulting in desired gestures.

Project Objectives

sEMG Signal Processing

•Basic Grasp Detection using sEMG Signals

•Image Acquisition

•Object Shape Detection

•Object Orientation/Axis Detection

•Prosthetic Hand Grasp formation

Project Implementation Method

Electrical activity of muscles will be measured by sEMG   electrodes.

•Micro Processor will receive these signals.

•Based on these signals a Micro Processor will decide the   grasp that Amputee wants to make (Cylindrical, Lateral or   Pinch etc).

•Vision system consist a Camera attached to a Single Board Computer.

•Vision system will assist the EMG system by:

   –Detecting an object.

   –Finding its axis.

•If the object is present then Single Board Computer will   align  the Amputee’s hand to grasp that object.

•IMU’s (Inertial Measurement Unit) are used to detect the   position of hand.

Benefits of the Project

Rehabilitation Technology

Rehabilitation technology is a profession that            uses technology to help people with physical disabilities increase their independence.

•Prosthesis Control

Prosthesis control is a method for controlling a prosthesis in such a way that the controlled robotic prosthesis restores a biologically accurate gait to a person with a loss of limb.

•Wearable Systems

A smart wearable system (SWS) is an end-to-end integrated and connected system that has the following features: one or more sensors and actuators etc.

Technical Details of Final Deliverable

Micro Controller Arm Cortex STM32F103C8T6

 STM32F103C8T6 is widely used in industries and medical     fields where high processing is required.In this project it is     used   to control individual fingers of hand.

DRV 8830

  DRV 8830 is a motor driver and I2C compatible interface.

RaspberryPi 3 B+

 It is Linux based Single Board computer which is used for   Vision. A Camera will be connected to this to recognize   objects.

Camera A4TECH Pk-720G

The objective of Camera is to detect the Object which    Amputee wants to grasp.

Final Deliverable of the Project Hardware SystemType of Industry Medical Technologies Robotics, Wearables and ImplantablesSustainable Development Goals Quality Education, Life on LandRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	38784
Arm Cortex M3	Equipment	2	400	800
Debugger	Equipment	2	300	600
Raspberry Pi 3 B+ with Case	Equipment	2	8000	16000
3d Printing of Hand Parts	Equipment	12	500	6000
Pulleys of Mini Motors	Equipment	12	165	1980
Socket Adapter	Equipment	1	1500	1500
Mini Motors	Equipment	5	1000	5000
Cells	Equipment	4	250	1000
Motor Couplers	Miscellaneous	3	50	150
Nuts & Bolts	Equipment	12	20	240
HDMI Converter	Equipment	1	500	500
VGA Cable	Equipment	1	214	214
Memory Card	Equipment	2	700	1400
Motor Drivers	Equipment	8	200	1600
SMD Resistors	Equipment	10	80	800
Camera	Equipment	1	1000	1000