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    Bionic Hand

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    Dr. JDP

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    Bionic Hand

    Uploaded by

    Dr. JDP
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    Download as pptx, pdf, or txt
    10 views57 pages

    Bionic Hand

    Uploaded by

    Dr. JDP

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 57

    Bionic Hand

    Presenter Moderator
    Dr Fathima Haneena P Dr S L Yadav
    • Human hand: complex repertoire of sophisticated movements

    • Somesthetic information about our environment (fine touch,


    vibration, pain, temperature and proprioception)

    • 25 degrees of freedom

    • Loss of a hand can be devastating

    • Now, replacement hand replicates normal hand functions and looks


    Bio mechatronic hand

    Artificial hand as a result of advancement in


    prosthetic, electronic domain, for functional
    substitution of the natural hand which replicate
    sensory-motor capabilities of human hand and
    provide natural appearance, controllability,
    noiselessness, lightness and low energy
    consumption
    Design of Bionic hand
    • Hand has been developed incorporating two fingers and thumb
    • Perform two grasping tasks:
    1. Cylindrical grasp
    2. Tripod pinch grasp
    INDEX/MIDDLE FINGER DESIGN

    • They consist of three phalanxes and of palm housing, which is the part
    of the palm needed to house the proximal actuator
    THUMB DESIGN

    • A thumb has been designed in order to complete the hand prototype


    and to perform grasping tasks with thumb opposition
    • The thumb has been designed by simply removing the distal phalanx
    from the index/middle finger
    • Thumb can be driven through
    90
    • The position of each joint is measured using Hall effect sensors

    • Located on the links adjacent to the measured joint

    • The hand prototype has been fabricated using the Fused Deposition
    Modeling [FDM] process
    The actuation system

    • The finger actuator system is based on two micro-actuators


    • Drive the MP and the PIP joints
    • Both actuators are fully integrated in the hand structure(for cosmetic
    reasons)
    • First in the palm and the second within the proximal phalange
    • Actuator motions are transmitted to the phalanges via tendons
    Actuation mechanism
    • Worm wheel
    Advantage: self locking
    Disadvantage: heavy

    • DC motors
    Provide multiple actuators into a
    light weigh and adaptable device
    Actuation mechanism
    • The adoption of bulky and heavy actuators lead to an extreme
    reduction of DOFs
    • To achieve a stable grasp, high grip forces required
    • From this viewpoint an artificial hand actuated by micro-drives
    • Due to its enhanced mobility our hand will be able to increase the
    contact areas between phalanxes and grasped object
    Actuation mechanism
    • The grasping task performed by the biomechatronic hand is divided in
    two subsequent phases:
    1) Reaching and shape-adapting phases
    2) Grasping phase with thumb opposition
    Motor control

    • Myoelectric control : widely used method in bionic limbs

    • Massive amount of electrical activity in the stump

    • Eg: electrical activity in the flexor compartment of the forearm will


    lead to flexing of the bionic hand
    • To increase the accuracy of myoelectrically controlled prostheses

    o Targeted motor reinnervation

    o Bipolar differential electromyographic (EMG) electrodes within the


    muscle to create a system capable of reading intramuscular EMG
    signals

    o Intraneural electrodes to carry a bidirectional flow of information


    between the bionic limb and patient
    Sensory feed back
    • No longer perceived as part of the body
    • Rejection
    • Sensory feedback can be attained and provided by means of sensors
    and actuators
    Afferent pathway replaced by
    1) invasively, by interfacing directly to neural structures
    2) noninvasively, by providing feedback to intact sensory systems
    normally not involved in the task
    Sensory substitution
    • Auditory sensory substitution :
    • Having the grasp force by modulating the pitch, timbre or volume of
    auditory signals

    • Electrotactile substitution:
    • Induced by a current that flows through the skin
    • Vibrotactile substitution
    • Mechanical vibration of the skin
    • Typically at frequencies in the range of 10–500 Hz
    • Class of haptic devices that can display pressure on body sites as a
    representation of pressure sensed on the prosthesis
    Mechanotactile Stimulation

    • A force normal to the skin is applied by a pusher to convey sensory


    information

    • Modality-matched sensory feedback

    • Force sensors in the fingers are used to detect the sensory input
    • Pneumatic sensation:
    • Phantom sensations are due to rearrangement of cortical circuits
    occurring in the first hours after amputation

    • Remapping of referred sensations D. Borsook,, V. S. Ramachandran,et al. “Acute plasticity in the human
    somatosensory cortex following amputation,” Neuroreport

    • Transferring the information from sensors in the fingers of a


    prosthetic hand to specific locations on the skin, fingers of the
    phantom hand can be stimulated IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION
    ENGINEERING, 2013
    Timing of feedback

    • Latency between a variation of the output stimulus to a sensory input


    variation should be as short as possible for an effective volitional use
    of such information
    Socket
    • Typical inner socket materials include silicone, thermoplastic and
    laminate
    • Outer socket is primarily laminate
    • For a standard prosthesis, a minimum expected layup would be:
    • Inner socket: 2 layers of perlon stockinette, 2 layers of nyglass and 2
    layers of perlon stockinette
    • Outer socket: 4 layers of nyglass and 2 layers of perlon stockinette
    Coverings
    • Important part of the appearance and durability
    • Made of Silicone
    • Closely approximate the natural skin tones and
    appendages of the wearer
    • Ideal bionic hand:

    Highly functional hand with low number of actuators that allow all
    functions of hands including sensations
    Types of Bionic Hands
    I-LIMB Hand

    • World's first commercially available


    bionic hand
    • Invented by David Gow and his team
    • At the Bioengineering Centre of the
    Princess Margaret Rose Hospital in Edinburgh
    • Manufactured by Touch bionics
    • Individually powered digits and thumb
    • Has a choice of grips
    • Controlled through the use of myoelectric signals
    • Uses the muscle signals in the patient's residual arm to move the i-
    LIMB Hand around
    • Electrodes are placed at two pre-determined muscle sites
    • Electrodes pick up the muscle signals when the patient contracts
    his/her muscles
    • These signals are then sent to a microprocessor which causes the
    device to move
    • The i-LIMB Hand has up to four different muscle triggers.
    • The user is able to assign a grip to move the device to a certain
    position.
    These muscle triggers include:
    • `hold open’; This option uses the open signal for a certain amount of
    time.
    • `double impulse’; This option uses two quick open signals once the
    hand is opened completely.
    • `triple impulse’ This option uses three quick open signals once the
    hand is opened completely.
    • `co-contraction’ This allows the device to contract the open and close
    muscles at the same time
    i-limb ultra
    • Looks and moves like a natural hand
    • Motorized digits allow the hand to bend at the joints of each digit
    • Individual stall out technology gives the hand a compliant grip
    • Hand accurately conforms around the shape of the object being
    grasped
    • Allows the user to increase the strength of their grip around an object
    OTTO BOCK HAND
    • Naturally-controlled movement
    • Pick up signals via two sensors placed on his forearm, picking up
    nerve stimuli very similar to those that trigger movement in organic
    hands
    • Three degrees of movement (rotation, bending/flexion, and
    extension)
    • Perform pinch and a full-hand grip
    • Available now in the market
    FINGERS: TOUCH BIONICS
    • ProDigits are designed to replace individual fingers, not the entire
    hand
    • Custom-made to fit
    • Triggered by myoelectric sensors which pick up and react to the
    minute muscle movement in the hand and arm
    • Perform pinch and grip
    • Pick things up without crushing them
    • Available ranging from around $57,000 to $73,000
    • vari-grip mode allows variable digit-by-digit grip strength
    • Mobile app control provides instant access to 14 programmable grip
    patterns
    • Allows flexibility and ability to customize the hand for a variety of
    daily activities
    • Powered thumb helps the user have access to 4 additional grip
    patterns
    • Auto-grasp feature to prevent objects from slipping
    Bebionic hand
    • Individual Motors in each finger allow to move the hand and grip in a
    natural, coordinated way

    • The motors are positioned to optimise weight distribution – making the


    hand feel lighter and more comfortable

    • Powerful microprocessors continuously monitor the position of each


    finger, for precise, reliable control over hand movements

    • 14 Selectable grip patterns and hand positions enable to perform a huge


    number of everyday activities with ease
    • Proportional Speed Control gives precision control over delicate tasks
    • Four Wrist Options including Quick Disconnect, Multi- flex, Flexion
    and Short wrist

    • Bebalance software and wireless technology makes it easy to


    customise the functions to suit patient’s preferences and lifestyle
    • Selectable thumb positions and a built-in sensor enable to complete
    more tasks than ever before

    • Auto grip senses when a gripped item is slipping and adjusts the grip
    to secure it

    • Foldaway fingers provide natural looking movement, and flex when


    brush past people or bump into objects

    • Durable construction and advanced materials :strong enough to


    handle up to 45kg
    • Innovative palm design protects from impact damage, and makes the
    hand quieter than ever

    • Soft finger pads and a wide thumb profile maximises the surface area,
    and enhances grip
    Michelangelo hand
    Michelangelo hand
    • 6 degrees of freedom
    • Similar shape of the human hand
    • Water resistance
    • Different forces and velocities to grab
    • Composed of steel and duralumin high strength
    • Externally is covered with silicone elastomer replacing the soft
    structures
    • Plastics replacing the muscles and tendons
    ARM: A BRAIN-CONTROLLED LIMB FROM DARPA
    • Mimics the natural motion of the arm, elbow, wrist, and hand with 27
    different movements (including rotation, bending, and extension)
    • Small chip implanted in the brain
    • Sense and measure the firing of neurons
    • Convey those commands to the arm, all near-instantaneously
    • Developed by Dean Kamen
    • Clinical trial not started
    • If successful available in 4-5 years in market
    Bionic hand- Advantages & Disadvantages
    Advantages
    • Individually motorized digits

    • Thumb rotation: powered/manual

    • Conformable grip

    • vari-grip® feature to apply more force when desired

    • Automated grips

    • Multiple control options for accessing grips


    • iLimb Hand allow individual digits to be removed for servicing

    • User can maintain some functionality with the remainder of the limb
    intact

    • Small reductions in the weight of bionic hands make a big reduction in


    the effort required to manipulate them

    • Increased battery life and the efficient actuators deliver higher forces for
    a given energy consumption

    • Sensory feedback available


    Disadvantages
    • Sweat can cause damage and compromise the function of the
    prosthesis
    • Dirt or fluids coming in contact with the electrodes cause damage
    • When socket tightly fit for better slip control, excessive bruising above
    the elbow
    • Limb positioning interfere with grip function causing inability to let go
    or hold grip
    • Lack of reliable precision grip and within-grip-activity change of grip
    configuration
    • Extensive training with occupational therapist required to achieve
    successful function
    • Servicing requires specialist input and often affected component need
    to be sent back to the manufacturer
    • Durability of the coverings requires diligent care and adds further
    costs to the prosthesis
    • Fitment to the soft tissue reduces the strength of the prosthesis
    • Problems with battery function at colder ambient temperatures
    ranging down to -15 deg C
    • Noise generated during movement can be distressing to some users

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