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INTRODUCTION

The objective is to develop an artificial hand aimed at replicating the appearance and performance of the natural hand or to obtain a complete functional substitution of the natural hand.

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

DESIGN OF THE BIOMECHATRONIC HAND


ARCHITECTURE& ACTUATION BIONICS CONTROL

ARCHITECTURE OF THE BIOMECHATRONIC HAND


Design : Stress Strain Analysis Actuation : Pneumatic or servomotors

Pneumatic Prosthetic Arm

Servo Prosthetic Arm

ACTUATION SYSTEM

Heavy actuator system

Traditional actuators

One/two DOF s

Large forces

Low adaptability

Low grasp robustness

Little contact areas

Micro Actuation

Micro actuators

Small forces

Rise in DOF s

High grasp stability

High grasp stability

Rise in contact areas

1. Brain Command Bionic Sensors

SENSORS

Sensors

Targeted Muscular reinnervation for Bionics

Brain Commands

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

Close, Open

Sensor Calibration

11110000

Command : UP

Sensor

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

Sensor to Motion
Motor

Sensor

Microcontroller ( AVR 128)

Motor Controller

Motor

Motor

SENSORS
2. Feedback Sensors

Feedback Sensors

Feedback Sensors

SENSORS Tactile sensors Proximity and range sensors


Position sensors

Control System
Bionic Sensors Control System Actuator Gripper Sensors

feedback

Major Considerations

- cosmetics - controllability - noiselessness - lightness - low energy consumption

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

CONCLUSION

The biomechatronic design approach can lead to the development of hand and prostheses. It requires low cost and low energy consumption for adequate autonomy (at least 8 hours between recharges).

REFERENCES

Introduction to Robotics, John J. Craig Micromechatronics and System Dynamics Lab, KAIST, South Korea Internet , Wikipedia

THANK YOU

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