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EC0283
ARTIFICIAL HAND USING EMBEDDED SYSTEM

BY P.Sadhana 3rd year ECE Email Id:sadhanareddy.p@gmail.com

BY G.S.R.Tulasi 3rd year EEE Email Id:tulasi1208@yahoo.com

FROM VID YA J YOTH I IN STITUTE OF TECH NOLOGY

A bst ra ct Th e lo ss o f han d func tio n fo llow ing a n in ju ry an d ampu ta tion o f ar m ca n se ver ely a ffec ts a p erso n s qua lity o f life .Ar tificial h and ar e u sed to mitiga te th e ha nd ica p . Idea lly , any a r tific ia l ha nd sh ou ld b e cap ab le o f emula ting th e n a tur al h and in te rms o f gr asp in g and g ripp in g ob jec ts o f var ying ge ome tr ies a nd p hys ica l pr op er ties . Ho weve r , des p ite man y yea rs o f r esea rch , th e mos t co mmo nly use d prost het ic hand is the c la w hook . R ecen t tec hno lo gica l a dvan ces and inn ova tio ns have led to th e dev e lo p men t o f so ph is tica ted ar tific ia l ha nds bu t h igh cos ts an d d iffic ulties o f con tro l h ave limite d the nu mb er o f us ers who ca n be ne fit fro m these d eve lo p men ts . Mor e impor tan tly , man y o f th e ar tificial ha nds d eve lo ped so fa r hav e fa iled to a ddr ess th e pr ob le ms o f ach iev in g vers a tile g rasp an d gr ip . Our g oa l is to d esign a nd deve lo p a low c os t a r tific ia l ha nd tha t ca n be use d to p rov id e ve rsa tile g rasp . It ca n be c on tr olle d by a n Embedde d sy ste m . Hr e w e h ave used the hy draulic pumps to pro vide str eng th to th e pr os th e tic ha nd . Th e se nso r pr ov ide d in the han d s ense s th e mech an ica l ac tivities o f the han d . As th e musc le con trac ts microc ontrolle r se nse s th e po ten tia l , wh ich giv es ex clusiv e co mma nd to the a r tific ia l h and for sp ec ified a ction . K eywords: Pros thet ic ha nd, c la w hook , microc ontrolle rs , e mbedde d s yst e ms , hy draulic pumps . Introduct ion: 1 www.jntuworld.com

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Microc on tr olle r a nd mic ropr oces sor p lac es an impor tan t ro le in all typ es of co n tro l a pp lica tion s . Embe dde d syste m is a co mb in a tion o f h ard war e us ing a Micr opr ocess or an d the su itab le so ftwar e a long w ith so me k ind o f a dd ition al mec han ic al o r o the r e lec tr on ic par ts d es ign ed to p er fo rm a s pec ific tas k . T he e mbe dde d sys te m places a vital role in th is pros the tic h and . The ma in fac tor s for a loss o f an upp er extr emity a re acc iden ts fo llow ed by ge ner al d ise ases a nd injur ies fro m war.For th e in div id ua l the loss o f an upp er limb res ults in a dras tic r es tr ic tion o f fu nc tion and cos mes is . The re fo re in the las t 3 dec ad es a n incr eas ing nu mber o f h an dic app ed pe r sons h ave be en prov id ed with p ros th e tic h and s tha t ha ve the s hap e o f a hu ma n h an d a nd th a t ar e ac tua te d by a D C mo tor w ith red uc tion gea r tra ins . H owev er, su rveys on us in g suc h ar tificial han ds rev ea le d tha t 30 to 50% o f the o f the h an dic app ed p erso ns do no t us e the ier p ros the tic ha nd re gu lar ly. The ma in fac tors fo r the re jec tio n o f co nve n tiona l pros th e tic ha nds w ere : H eav y we ight: Althou gh co mmerc ia l pr os the tic ha nds h ave a bou t th e s ame mass as h uman h an ds they ap pea r to b e un pleas en tly h eavy b eca use a le ver arm to th e sho r t s tu mp o f th e a mp uta te d ar m tr ans mits the mas s . Low f unct iona lity: A hu ma n ha nd ca n per for m a lare ge va rie ty o f d iffere n t gr ip move men ts wh ile co nve n tion al pros the tic ha nds c an on ly p er fo rm a sing le pincer -like gr ip mov emen t.The re fo re the gr ipp in g a bilities ar e re s tric ted , so it is for e xa mp le imposs ib le to p ick u p a pinba ll w ith th e ar tific ia l h and . C ost : The c os ts o f imp or te d mo tor ise d h ands , howev er, ar e pr oh ib itive a nd it ca n be mor e tha n 3 .0 0 lakhs . We a re us in g the hyd rau lic pu m p for ex itin g the a ir for sp ec ified a ction .The s ervo mo tor drives th e pu mp . BLOCK DIAGRAM:

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EMG Ele ct rode s: EMG is an ac rony m o f e le c tro ma gne tic . Thes e elec tro des a re us ed to se nse the elec tr ic fie ld gen era ted o n the musc les . Th e elec tr ic fie lds tha t occu r in living tiss ue are ca use d by cha rge se para tion in e le c tro ly tes a nd no t by th e mov emen t o f e lec tr ons . Us ing s ilv er ch lor id e e le c tro des o n the sk in a nd co up le it w ith a c o nd uc ting g els . We ca n sens e the vo ltage a t the lo ca tion . Inst rumentat ion a mplif ie r: The ma gn itu de o f th e vo lta ge is re la te d to how muc h subc u ta neo us musc le co n tra c ts . The p rob lem tha t re mains tha t the e lec trod es pr od uces a v ery s ma ll s ig na l a t bes t few milivo lts . The ins tr umen ta tion a mp lifier is n ecess ary to p rov id e th e high in pu t imp ed ance , h ig h c ommon mod e r e jec tion ra tio , a nd ga in n ecess ary to ex trac t the biopo ten tia l sign al pro duce d by the c on tr ac ting musc le . A na log to digita l c onve rt er: Sign als fro m ins tru me n ta tio n a mp lifie r are in the for m o f ana lo g . For acc ura te co n tro l o f a r tific ia l ha nd w e nee d Micr oco n tr olle r for co mp u ta tio ns . Ge ner ally Microc on tr olle rs ar e wo rked on ly w ith digita l s ig na ls . So w e n eed to co nver t s ig na l fr o m the ins tru me n ta tio n amplifier in to d ig ita l for m thro ugh a na lo g to d ig ital con ver ter ( ADC) . In this pr ojec t w e us e s uccess iv e a ppr ox ima tion type o f ADC . Mic rocont roller: The 80 51 is a low cos t micro con tro ller and a ls o it h as 4 KB o f flas h me mory, tw o- timer an d c ou n ters , a nd fo ur po r ts resp ec tive ly. It ju s t ge t the binary va lue fr om th e ADC a nd g ene ra te co n tro l s ign als to th e mo tors a nd ge t th e fee dbac ks fr om the s enso rs p lac ed in o ur a r tific ia l h and. Se rv omotors and hydra ulic act ua tors: A serv o mo to r is an elec tro me cha nic a l dev ic e in wh ich an elec tr ica l inp u t d e ter min es th e pos ition o f the ar ma ture o f th e mo tor. Serv omo tors ar e used ex tens ive ly in rob o tics a nd c ars , a ir planes and bo a ts . Her e s ma ll siz e o f se rvo mo tors is us ed to giv e the force to the oil fille d hy dra ulic ac tua tors fo r sp ec ified ac tion . The e lab ora ted exp la na tions ab ou t hydr au lic ac tua to rs w ill be d isc usse d in the follo wing s ec tions .

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Ope ra t ion Th ree su r face e le ctrod es sens e the musc le co n tac tion v oltages . Th e tw o su r fac e elec tro des w ill b e mo un ted close tog e th er ab ove th e mus cle . The th ird e le c tro de is a gro un d re fere nce . The ins tr umen ta tion a mp lifie r is con s truc ted w ith h ig h c mr r(co mmon mo de re jec tio n ra tio) . Tha t is it ha s c mrr in exc ess o f 6 0 d b an d a g a in o f 125 with an inpu t imp end anc e o f 1 0 moh ms .th e ins tr umen ta tion a mp lifie r wa s ch ose n b eca use it ca n ex trac t a v ery small s igna l d iffere nce b e twe en the tw o s ig na l e lectr odes (e lec tr od e 1 & 2 ) w h ile s ig nifica n tle a tten ua tin g n o ise , co mmon mode n ois e and o ther sign als co mmo n to vo th e lec trod es .h owev er, so meth img ca lle d mo tio n a r tifac t c an s till occ ur d ue to re la ive mo tio n b e twe en th e e lec tr od es a nd t issu e . R ela tiv e mo tion ca n pro duce v oltages s u ffic ie n t ti sa tu ra te th e seco nd s ta ge a mplifier. The freq uen cies o f the mo tion ar tifac t ar e us ua lly a t the low e nd o f the ban dw id th o f the EMG s ig na l.th ere fore , the 2 hz high pas s filter on th e inpu t o f the s econ d s tag e o f th e a mp lifier th a t fo llows ca n be ued to red uce th ese ar tifa c ts . At this po in t the EMG sign al o bse rved o n the osc illosco pe w ou ld loo k like the fo llow in g , W her e the larg e amp litude b urs ts ar e assoc ia ted with mu scle c on tac tion . As sh own in the follow ing figu re .

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www.jntuworld.com - 5 -88 f ig.2 : musc le c ontract ion v olt age wa vef orm

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Th is is a ra th er a h ig h fre que ncy s ign al w ith c ompo nen ts be twe en a few he r tz a nd 25 0 h er tz . To ma ke this sign al more usefu l for c on tr ol pu rpo se , w e n ee d to ex tac t th e e nve lop e o f the s ig na l b e twe en 0v & its maximum po itive a mp litu de .w e c an acco mplish th is w ith a rectifier an d low p ass filter. A n or ma l s ilic on diode wou ld no t be sa tis fac tory to rec tify th e s ign al since it r eq uires a 0 .7v tu rn on v o ltag e w hic h is lar ger th an the a mp litude o f the in pu t s ig na l.bec aus e the signa l is v ery s ma ll, w e mus t us e a prec is io n rec tifier c ircu it tha t mo re c lo se ly a ppr oxima tes the ac tio n o f an id ea l d io de . The p rec is ion rec tified EMG a nd the res ultin g lo w p ass file ter ed signa l lo ok like th ose s how n in the follo wing fig ure .

f ig. 3: rect if ie d musc le c ontract ion s igna l After rec tifica tion th e ana lo g s ifn a l is s amp led a nd qu an tized by th e ch ip AD C80 4 a nd g ive to th e micr oco n tro ller 8 05 1 . we wr o te a p r ogr am to dr iv e th e s erv omo tor d epe nds u pon th e binary va lu es an d mo nitor the se nsor o u tp u t. it w ill dr iv e the mo tor u n til the se nsor ou tpu t is h ig h . Flex ible f luidic act uat or: Pn eu ma tic and hyd rau lic a c tua tors are o f gr ea t prac tica l imp or tan ce in ind us tr ia l p roc ess co n tro l. They are use d in a w id e va rie ty o f d iffer en tia l a pp lica tion s, s uch as heavy in dus tr ie s, mech an ica l en g ine er ing , a nd tr ansp or ta tio n sys tems an d in me dic al en gin eer in g . Th e a dvan tage s o f these ac tua tors ar e : a r ob us t c ons tr uc tion , a h ig h po wer ca pac ity, a h igh r elia bility a nd a re aso nab le e ffic ien cy. How ever,c onv en tio na l ac tua tors o nly ha ve a small flex ib ility in th eir me cha nic a l c ons tr uc tion a nd co nse que n tia lly h ave limite d mov emen t. Th ere fore , a new c lass o f ac tu a to rs has bee n de ve lop ed h av ing the fo llow in g a dva n tag es : high flexibility des igne d in to th eir mech an ica l co ns tr uc tion re aliza tio n o f v ery c o mp lex move men ts , lig h twe ig h t c ons tr uc tion , ve ry low man u fac tur ing c os ts . Th is c lass of n ew ac tua tirs w ill be d escr ib ed n ow. Mec hanica l c onst ruct ion: A sing le ac tua tor e lemen t c onsis ts o f a fe ed ing cha nn el for th e p ress urized a ir or liq uid an d a "ch amber" wh ich is co nne c ted to the two mov ab le p ar ts o f a join t. Dur in g the in fla tio n o f th e ac tu a tor ele men t by a ir /liqu id th e vo lu me o f th e elemen t ex pands a nd th e he igh t o f th e e le men t ve r tic a l to th e flexible wa llo f the cha mber inc rea ses . Th is c ha nge o f d is ta nce b e twe en the opp osite la ter al su r face s is ca lle d the ex pan sion be hav ior. D uring th is proc ess the vo lu me e ner gy is co nver ted in to de for ma tion ene rgy. J oint st ruct ure:

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By us in g the sing le ac tua tor e le men ts d escr ibe d ab ove d iffere nt jo in t s tr uc tur es ca n b e re alize d . In fig ure- 4 a jo int b ase d on the expa ns ion be hav ior is illus tra te d . By us in g many flu id ic ac tua tor e le men ts to ge th er s tr uc tur es w ith v ery Co mplex flex ib ility can be cr ea te d . Th us mak in g many differ en t a nd u nus ua l move me nts p oss ib le .

For the e ffec tive de sign o f suc h c omp lex s truc tures it is nec essa ry to d er ive Ma th ema tica l mo de ls for th e exp ans ion be hav io ur o f the ac tua tor e le men ts . Suc h mod e ls e nab le the de fo rma tio n p rop er ties and the poss ib le fo rce b eh aviour o f a p o te n tial s truc tu re to be fo und . Mec hanis m a nd de s ign A c onv en tion al p ower ed pr os th e tic h and us ua lly c ons is t o f an en erg y so urc e , o n eo r two ac tua tors , as imp le co n tro l u nit and the mec han ica l co ns tr uc tion . a ll co mpon en ts exc ep t for the myo elec tr ic s enso rs and th e e ner gy s ourc e hav e to b e in the ha nd itse lf bec aus e In th e sock e t th ere is v ery little s pace le ft. S o we in te gra ted a to tal o f 1 8 minitur ized flexible flu id ic ac tu a tors in to th e mech an ica l co ns tr uc tion o f the fin gers a nd the res t o f th e han d . our a im w as to mimic as c los ely as po ssible th e geo metry if an male a d ult hu ma n han d . the new ha nd ca n b e d ivide d in to tw o(+1 op tio na l) s ec tions.

Finge rs: They con tain the flexible fluid ic ac tu a tor s that lea d to th e flex ion o f the fin ger, flex se nso rs . 6 www.jntuworld.com

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Met aca rpus: Pr ovides eno ugh spac e to h ous e a microc on tr oller, micro va lves , th e en erg y sou rce a nd a micr opu mp . Wris t: C on ta ins fle xible fluid ic ac tu a tors tha t ben d th e wr is t. Th e ex tens io n o f th e jo in ts is d one pass ive ly electr ome tr ica l spr ing - elemen ts . Se lf-a da pta bilit y : The flexible fing ers o f the new han d a re a ble to wra p ar oun d o bjec ts o f d iffe ren t s izes a nd sha pes . Bec aus e o f the e las tic pr ope r ties o f the ac tua tors th e c on tac t forc e is s pre ad ov er a gr ea ter co n tac t ar ea . Ad ditio na lly th e s ur fac e o f th e fin gers is so ft a nd the silico ne-r ub ber g lov e th a t c overs th e a r tific ia l h and incre ases the fric tio n co e fficien t. The resu lt is a re duc ed grip fo rce is ne ed ed to h old a n ob jec t. As a side e ffec t fro m the s o ftnes s an d e la s tic ity o f th e h and it fee ls more na tura l w hen touc he d th an a h ard rob o tic h an d an d the risk o f in jury in direc t in te rac tion with o th er h umans is minimize d .

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www.jntuworld.com - 8 -88 AD VA NTA GES: L ow cos t H ig h func tio na lity Easy to gr asp a nd gr ip o bjec ts L ess we ig h t co mp are d to o ther pros thetic h ands FUTUR E ENHANC EMEN TS: To uch sens in g d iffere nt par a me te rs Ab ility to write Quic k res pons e for any ac tion . C onc lus ion:

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In th is p ape r the co ncep t a nd d esign o f the p ros th e tic han d ar e p rese n te d . It is a ble to gra sp ma ny d iffere n t o bjec ts and the move me n ts a ppe ar to b e nea rly n a tur al. The mo tion s a re bas ed on flex ib le ac tu a tors . All o f thes e a re very co mp ac t an d ligh tw e igh t ac tua to rs hav e bee n integr a te d c omple te ly in to the finge rs o f the ar tific ia l han d . Th e pa lm o f the han d r emaine d e mp ty an d p rov id es en oug h spac e for a micro pu mp . Beca use o f the se lf-a da p ting fe a tur es o f the fing ers many differ en t o bjec ts ca n be gras pe d wit hou t s ens ory in fo rma tion fr om the ha nd . Th is e nab les th e dev elop me n t o f a low mass p ros th e tic ha nd w ith h ig h func tio na lity. A ba tc h pr oduc tion for s ever al ex pos ition o f th e new ha nd p rove d th e func tio n to b e re lia ble . Bibliography 1.intoduction to mechatronics and measurement systems, david g.alciatore & Michael b .histand 2.biomedical instumentation &measurements , leslie Cromwell,fred j.weibell & erich a. Pfeiffer 3.laplante,m.p Carson , d:disability in the united states;prevalence & causes,1992. disability stastics center,university of califirnia , san franciso,January 1996. 4. silcox,d.h;rooks,m.d et al.:myoelectric protheses.the journal of joint and bone surgery,vol. 75 5.shadow robot project:Biomorphic arm, http://www.shadow.org.uk/projects/addprojects.shtml

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