A design approach for myoelectric arm with hand and wrist motions using single actuator

Abstract

This paper relates to the development of prosthetic myoelectric hand that performs many functions of real human hand like opening and closing of fingers and wrist rotation. This dual movement of prosthetic hand is controlled by a single DC motor. Below-elbow amputee persons with missing limbs can append this prosthetic hand with the available stump and can do some of the hand operations with multiple degrees of freedom by voluntary activation of muscles using electromyogram (EMG) electrodes. To rehabilitate such a person, facilities like opening, closing, grasping, and lifting objects of different weight with variable grip force are available like natural hand. The main design consideration includes degrees of freedom, number of actuators, power of actuators, reliability, electronic control, light weight, economic viability, wrist rotation, variable grip force pattern, and ease of attachment with limb. Use of electromagnetic clutches along with the coupling logic of DC motor and microcontroller based on grip force generation and wrist rotation based on EMG signals imparts a new function to the device. It will be useful for both robotic and prosthetic industry.