Bharati Vidyapeeth College of

Engineering, Navi Mumbai

A
REPORT ON

Prosthetic Upper Limb With Sensation

For

Major Project 1 (REV- 2019 C Scheme) of Final

year, (BE Sem-VII)
In

Electronics and Telecommunication

Engineering
Submitted by
1)Rutu Bagde A(01)
2)Devika Ghadage A(11)
3)Mohini Dhadi A(09)
4)Chaitali Barhate A(02)
Guide By
Dr.Swati Jha

2022-2023

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 CERTIFICATE
This is to certify that the project report entitled
Prosthetic Upper Limb With sensation is a Bonafide work of

1)Rutu Bagde A(01)

2)Devika Ghadage A(11)
3)Mohini Dhadi A(09)
4)Chaitali Barhate A(02)

Submitted to the University of Mumbai in partial fulfillment of

the requirement for the award of Major Project 1(REV- 2019 C
Scheme) of Final Year, (BE Sem-VII) in Electronics
Telecommunication Engineering as laid down by University of
Mumbai during academic year 2022-23.

Dr.Swati Jha Dr.P.A.Kharade Dr.Sandhya Jadhav

Guide Head of Department Principal

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 Project Report Approval

This project report entitles “Prosthetic Upper Limb

With Sensation” by

1)Rutu Bagde A(01)

2)Devika Ghadage A(11)
3)Mohini Dhadi A(09)
4)Chaitali Barhate A(02)

is approved for the degree of bachelors of engineering

(Electronics and Telecommunication engineering)

Date: Place:

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 ACKNOWLEDGMENT

We are thankful to”Bharati Vidyapeeth College of Engineering” for

considering our project report and considering us through the various
stages of the project report. It gives us immense pleasure to express our
sincere gratitude of Dr.Swati Jha for her guidance in selecting the final
year project report and also for providing us with all the details. We
would like to thank our project guide Dr.Swati Jha for guiding us from
the idea planning to the project execution and also clearing our queries by
providing her technical expertise.

We would like to express our special thanks to Founder/Director of Inali

Foundation Mr. Prashant Gade sir for giving us this golden opportunity to
work with you. Inali Foundation is currently focusing on upper limbs and
other related products to upper limbs .we express our heartily thanks to
them for their assistance without which it would have been difficult in
finishing this final year project report successfully.

We are deeply indebted to our respected Head of The Department of

Electronics and Engineering, Dr. P. A. Kharade, for giving us this
valuable opportunity to do this project.

We are also thankful to our respected Principal, Dr. Sandhya D.Jadhav.

We convey our deep sense of gratitude to all teaching and Non-teaching
staff of The Department of Electronics and Telecommunication
Engineering for their constant encouragement, support and timely help
throughout the final year project report work.

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 Index
Sr.No NAME OF TOPIC
1 Abstract
2 Introduction
3 Literature survey
a). Survey Existing System
b). Limitation of existing system or research gap
c). Problem Statement, Objective
d). Scope
4 Proposed System
a). Analysis/Framework/Algorithm
b). Details of Hardware and software
c). Design Details Methodology
5 Implementation Plan for Next semester
6 Conclusion
7 References

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 Abstract

Arising out of military conflicts, defects acquired by birth, the

emergence of diseases at any age, but especially the increasing
incidence of trauma caused by accidents both work and traffic,
a growing number of people remain without parts of the upper
limbs. So, necessity to find a suitable solution for the people
who suffered amputation in order to improve their quality of
life must become a priority for the researchers for many
domains as doctors, engineers and psychologists. A bionic
hand can be useful as a replacement for the human hand. It just
needs to be controlled by a human thus allowing a human to
believe that he is actually there doing that task. The Bionic
hand can perform various operations and can be replaced in
the form of prosthetic limbs. The main goal is to make an
efficient manipulator (minimalistic approach).The aim is to
design a bionic hand with 5 fingers and that gives the ability to
grasp objects of various shapes. This plays a vital role in
military, industrial, medical and many other fields.
In this paper, we are proposing a solution that will help
disabled or accidentally injured people to have a hand to use,
a hand to bless, a hand to create and a hand to be independent
for implementing day-to-day activities. For this project, we will
be working in collaboration with INALI FOUNDATION founded
by Mr. Prashant Gade Sir.
Keyword: Prosthetic arm, Amputees, Bionic hand, Upper Limb

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 Introduction

Amputation generally means ‘to cut out’ is the removal of a

certain body part (arm or leg), due to accidents, traumas, or
during military conflicts, etc. The number of cases of the
amputation are increasing day by day due to constant
growth in industrialization and lack of awareness towards
the safety measures. The limb amputation results in mental
instability, sense of physical disability, being isolated from
the outside world, sense of dependency.
Prosthesis is an artificial body part to recoup the functional
ability to carry out basic movements without the help of
manual support. Prosthetic arms are necessary for those who
suffer either loss of upper limb due to accidents or are born
with a physical disability.

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 Literature survey
Literature Survey Table
SR. PUBLISHER PAPER TITTLE REMARKS
NO
1. Volume 9,Issue 8 “ Prosthetic Arm A prosthetic hand can be designed
August 2021, With to replicate the normal functions
ISSN: 2320-2882 | Microcontroller ” of the human hand by obtaining
IJCRT.ORG electro potential muscle signals
Manan Kumar associated with finger movements
Gupta, Dhiraj Singh, .A low-cost myoelectric robotic
Keyuri arm is described in this paper. The
Gupta(Electronics goal of the developed device is to
And be used as an electromyogram
Communication, (EMG) signal-controlled low-cost
AKTU, Ghaziabad prosthesis. As the key controller,
India) the Arduino Development Board is
used. Theoretical findings have
shown that without dropping the
item the automated hand should
be able to perform gripping and
clasping operations.

2. 2020 6th “ Design and The Prosthetic arm is a device for

International Development of people who are suffering from
Conference on EMG Based paralyzed human parts. In this
Advanced Prosthetic Arm” Project we use the signals from
Computing & the muscles which are called
Communication electromyography. The main
systems(ICACCS) challenge in the prosthesis is the
978-7281-5197- lack of a portable and powerful
7,10 May 2020 Embedded system. We present a
IEEE,2020 design and development of EMG
Ashik Ali based prostheses for upper arm
Abdul,Sadhana prosthetics that can overcome
Subramaniam, many limitations over myoelectric
Deepika movements. Neuromuscular
Subramaniam, signals are also used to estimate
K.G.Dharani, force and torque to actuate the
Dept.of Biomedical prosthetic device. In sense to
Engineering, obtain required output the sensing

8
 Kanhe,Coimbatore. system and control system work
accordingly. Our prototype will
serve as a platform for several
new features and an elegant way
for a natural and intuitive
prosthesis.

3. Volume 6,Issue 2 “ Hand Gesture Bionic hand is an artificial hand

April-June 2018, Controlled Bionic that can be replaced by a missing
ISSN: 2348- Hand ” Human hand. In medical science,
2281(Online) Bionic hand is an artificial hand
Hadmath Singh, that replaces a missing human
Akash D, Rajesh N, hand, which may be lost through
(Department of trauma, disease, or congenital
Electronics and conditions. A bionic hand can be
Communication, useful as a replacement to human
Maharaja Institute hand. It just needs to be controlled
of Technology, by a human thus allowing a
Karnataka, India) human to believe that he is
actually there doing that task. The
Bionic hand can perform various
operations and can be replaced in
the form of prosthetic limbs with
the help of a microcontroller
programming. The aim is to design
a bionic hand with 5 fingers and
that gives ability to grasp objects
of various shapes. The bionic hand
will always copy human hand
Movements. This plays a vital role
in military, industrial, medical and
many other fields.

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 Survey Existing System
We review the literature and summarize the important
advances in medicine, computing and engineering that have
led to the development of currently available bionic hand
prostheses.
The bionic limb of today has progressed greatly since the
hook prostheses that were introduced centuries ago. We
discuss the ways that major functions of the human hand are
being replicated artificially in modern bionic hands. Despite
the impressive advances bionic prostheses remain an inferior
replacement to their biological counter-parts. Finally we
discuss some of the key areas of research that could lead to
vast improvements in bionic limb functionality that may one
day be able to fully replicate the biological hand or perhaps
even surpass its innate capabilities. Bionic prosthetic hands
are rapidly evolving. An in-depth knowledge of this field of
medicine is currently only required by a small number of
individuals working in highly specialist units. However, with
improving technology it is likely that the demand for and
application of bionic hands will continue to increase and a
wider understanding will be necessary.
It is important for the healthcare community to have an
understanding of the development of bionic hands and the
technology underpinning them as this area of medicine will
expand.

1. Inali Prosthetic Hand: The arm is based on Mechatronics

concept. The motor is purely mechanical based, and the
movement is done using a switch. It works on a rechargeable
battery, an adapter is also provided with the same. The outer
structure of the hand is made up of fabricated material.
Silicone gloves are used for the palm area which make them
look very realistic. The overall cost for one hand is

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approximately around 13,000 (which is notably the least
manufacturing cost from all around the world).The function
mainly consists of opening and closing of the prosthetic arm,
which helps the users in carrying out their day-to-day
activities.
2) Be-Bionic (Myo-electric Prosthetic Hand): A Myo-
electric controlled prosthesis gives the user a higher level of
control, and with the proper training, a Myo-electric
prosthesis can reproduce motion of a human hand. A Myo-
electric signals is basically an electrical impulse that results in
producing contraction of muscle fibers’ in the body. These
signals three electrode are used that an attached to the skin
for detection of Myo-electric signals, with proper or
appropriate control, one can control the speed of the fingers
and their corresponding functions or tasks like picking up a
fruit with your artificial hand.

3) i-Limb Hand: The i-Limb is a bionic prosthesis for hand

amputees. It uses sensors that are placed against the skin to
allow users to take control functions of their robotic hand,
through muscle signals. The use of i-Limb Ultra allows arm
amputees to grasp and different shaped objects than a
traditional method of myoelectric hand.
4) Handii from exiii Myo-electric hand: A myo-electric
prosthesis uses an external source for its electric power,
which means no need to drive it using muscle power and
physical leverage. So, this modern type of prosthesis helps to
implement a biochemical process that can generate electric
signals with a micro-voltage. EMG-controlled prosthetic arm
called the handiii COYOTE. The device is a low cost, highly
functional myo-electric arm.

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 Limitation of existing system or
Research gap

The problems faced in the existing system include poor

balance, instability, or a fear of failing, general fatigue and
reduced mobility, irritation and skin diseases, socket issues
or discomfort. These problems can be rectified to 90% with
the help of our project.

 Excessive sweating: which can affect the fit of the

prosthesis and lead to skin issues.
 Changing residual limb shape: This usually occurs in the
first year after an amputation as the tissue settles into its
more permanent shape, and may affect the fit of the socket.
 Weakness in the residual limb: which may make it
difficult to use the prosthesis for long periods of time.
 Phantom limb pain: It could be intense enough to impact
your ability to use the prosthesis.

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 Problem Statement and Objective
 Arms play an important role in day to day life of every
individual. Even the basic needs like brushing, bathing,
writing, typing, feasting to playing games etc., become
Herculean tasks without arms.
 Soldiers, who have lost their arms in war, limb amputees and
paralyzed people, who lost their control over limbs, are
cursed for the rest of their lives, finding it difficult to meet
their daily needs. The disabled needs an escort throughout,
which is practically impossible.
The two major problems which we are concerned about are:
Problem-1:
Amputees and paralyzed people, who lost their control over
limbs, are unable to meet their daily activities.
Problem-2:
People who have lost their arms completely suffer for their
entire life.
Problem-3:
Prices remain high because prostheses cannot be mass-
produced. If one device could serve everyone, then
prosthetics could be mass produced and cost reduced. But a
limb prosthetics are produced in relatively small numbers
and made of custom materials, with variety of components.
Sizes are different depending on the needs of each patient.

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 Scope
Development of prosthetics largely divides into two camps;
those working to refine current socket-based technology and
those working on new systems more directly integrated into
the body. The most basic requirement of the latter is some
system that is grafted onto the skeleton using a process
known as Osseo integration. This requires developing metal
systems that can be inserted into or attached to the shaft of a
bone, whereupon the body's innate healing processes grow
living bone directly onto and into the metal. 3D printing and
advanced coating techniques have helped develop the
technology considerably in recent years, as they allow the
custom manufacture of textures and shapes suited for bone
tissue to grow through. Technological integration of Artificial
Intelligence (AI) and Machine Learning in the prosthetic and
Orthotic industry and in the field of assistive technology has
become boon for the persons with Disabilities.
 Reinforcement Learning:
Learning from demonstration of myoelectric prosthesis. In
this method the policy to determine the next action is learned
by different methods i.e. demonstration provided by the
prosthetist learned from the action of similar prosthetic user
or intact limb movements of prosthetic user. This technique
helps the amputee about muscle contraction which operates
the prosthesis. The opening and different grasping pattern in
sequence acts as a reward to perform more complex
activities.

Figure.1.Schematic Diagram of Bento Arm

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 Other Artificial Intelligence Techniques:

Artificial Intelligence is the intelligence of machine that

simulates the human intelligence which programmed in such
way that it thinks and act like human.

Figure.2. Schematic Diagram of AI and its functions

 AI in upper extremity prosthesis:

The artificial intelligence in upper extremity prosthesis used

as direct control and indirect control from the neural network
by various signal, sensor, controller and algorithm. The
control signals are coming from the human in the two form
for operation of upper extremity prosthesis i.e.
Electromyography (EMG) and Electroencephalogram (EEG).

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 Algorithm/Analysis/Framework

Algorithm:
Step1: Power is supplied to the whole circuit.
(The prosthetic hand).
Step2: The signal generated by the surface muscles of the
user will be detected by EMG sensors placed on the
arm of the user through the electrodes placed.
Step3: The EMG sensor will process the signals and will
forward it into the microcontroller Arduino Uno.
Step4: Arduino will process the signals depending upon the
signal received and will turn on the servo motors.
Step5: The triggering of the servo motors will result in the
movement of the prosthetic hand.

Figure.3.Block Diagram of the System

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 Details of hardware and software
1) Arduino Uno: A software library code is attached to the
Arduino file to maintain input and output signal.
It interacts with the sensors. The motion of Prosthetic hand
are Controlled by the Arduino. It reads the data from the EMG
sensor. The Arduino integrated development environment is
a cross platform for windows.(Arduino IDE 2.0.0)

Figure.4.Arduino Uno

2) Servo Motor: There are two major servo Motor used in

the Entirely of the robotic arms. Servo motor is linear
actuator that allows for precise control of an angular or linear
position. We are using a non-continuous servo which turns
180.It’s control the finger movement like opening and closing.

Figure.5.Servo Motor

3) EMG Sensor: Electromyography is a modern Clinical

Neuroscience Research strategy for observing and
monitoring a muscle strength of electrical activity.

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Electromyography measures the electrical potential
produced by the muscle cells. EMG sensor attached to reads
electrical signal in the user existing muscles.

Figure.6.EMG Sensor and Electrodes

4) Electrodes: we are using three electrodes. One pair of

the electrodes and one for reference electrode.

5)3-D Printed Hand: we can easily Manufacture the

Human prosthetic hand. It is light-weight and cost Effective.

Figure.7.EMG Sensor and Electrodes

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Software Implementation

Figure.8.Software Arduino IDE

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 Design Methodology

A Prosthetic arm works by picking up signals from a user’s

muscles. The entire network consists of three main parts:
(1) Portable EMG sensor and Electrodes, (2) Arduino
controlled system which controls prosthetic hand, (3) 3D
Printed arm
1. Basically, the prosthetic arm is based on EMG sensor that
is Electromyography sensor. The basic components
required are Arduino Uno, EMG sensor, Electrodes,
Battery and Servo motors.
2. The principle behind this prosthetic arm is whenever the
user wants to move his/her arm or thinks about it, the
arm will work as per the movement of the muscles.
3. To sense this muscle movements, EMG sensor comes into
picture.
4. This sensor will sense the EMG signals generated by
surface muscles of the user through electrodes placed and
will send this signal to the Arduino Uno micro-controller.
5. The Arduino will function up the servo motors
accordingly. Based upon the level of functionality, the
number of servo motors will be used.

Figure.9.Model of Prosthetic Arm

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 Implementation Plan For Next Semester

Uptil now, we have researched and collected a lot of

information about the working and implementation of the
prosthetic arm. The hardware implementation and its
assembly will be our next step. The answers to questions like
how, why and what we have covered.
The implementation part will be our next step, which we will
be implementing in the upcoming semester.

(1) 3D printing of Hand: It is the most important part of our

project. As it takes around 12 to 15 hours to make one
prosthetic hand, using 3D printing we can make different
styles and shapes of prosthetic parts of hand. Which cost
around Rs.3000-5000/-

(2) Second major part is to order required electronic

components for implementation and its assembly. Here we
required EMG Sensor and Electrodes, Arduino Uno Board,
Servo motors and Battery.

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 Conclusion

While modern solutions allow patients to recover significant

levels of motor and sometimes sensory functions, it is now time
to examine solutions that are not only functionally valid, but
that also approach the experience of a natural hand. The
primary components for the low-cost prosthetic hand
developed under this study are an EMG interface, a stable
embedded control system, and a microcontroller-based device
to do real time processing for signals. While controlled trials to
analyze the effectiveness of low-cost printed devices compared
to traditional prosthetics arm has not been completed, but now
these low-cost devices have gained considerable traction within
the user community. We conclude that this strategy would be a
gradual improvement over traditional myoelectric control
prostheses.
Therefore, the goal is to create a low-cost prosthetic arm by
using Electromyography (EMG) Technique.

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 References

[1] T. Shibanoki and K. Jin, "A 3D-printable Prosthetic

Hand Based on a Dual-arm Operation Assistance
Model," 2021 IEEE 3rd Global Conference on Life Sciences
and Technologies (LifeTech), 2021, pp. 133-134, doi:
10.1109/LifeTech52111.2021.9391902.

[2] Sivapong Nilwong, Delowar Hossain, Eneo Petoku, and

Genci Capi “Development of Myoelectric Robotic Hand
using 3D Printer“, 1st International Conference on
Advances in Science, Engineering and Robotics
Technology 2019 (ICASERT 2019)

[3] Manan Kumar Gupta, Dhiraj Singh, Keyuri Gupta

(Electronics And Communication, AKTU, Ghaziabad India)
“ Prosthetic Arm With Microcontroller ” Volume 9, Issue
8 August 2021, ISSN: 2320-2882 | IJCRT.ORG

[4] M. Gauthaam and S. Sathish Kumar, "EMG controlled

bionic arm," 2011 National Conference on Innovations in
Emerging Technology, 2011, pp. 111-114, doi:
10.1109/NCOIET.2011.5738813.
[5] S. Bhavani, K. L. Krishna, R. B. Y. Reddy and T.
Geethika, "A Low Cost Bionic Arm Based on
Electromyography Sensor," 2020 7th International
Conference on Signal Processing and Integrated Networks
(SPIN), 2020, pp. 896-901, doi:
10.1109/SPIN48934.2020.9070936.

[6] https://www.arduino.cc/

[7] https://en.wikipedia.org/wiki/Electromyography

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