Design and assessment of a low-cost, electromyographically controlled, prosthetic hand

Massimo Polisiero,1 Paolo Bifulco,1 Annalisa Liccardo,2 Mario Cesarelli,1 Maria Romano,1 Gaetano D Gargiulo,3 Alistair L McEwan,3 Massimo D'Apuzzo2 1Department of Biomedical, Electronics and Telecommunication Engineering, 2Department of Electrical Engineering, University Federico II of Naple...

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Autores principales:	Polisiero M, Bifulco P, Liccardo A, Cesarelli M, Romano M, Gargiulo GD, McEwan AL, D&#39;Apuzzo M
Formato:	article
Lenguaje:	EN
Publicado:	Dove Medical Press 2013
Materias:	Medical technology R855-855.5
Acceso en línea:	https://doaj.org/article/867519c4e9934893972c777734392a82
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spelling	oai:doaj.org-article:867519c4e9934893972c777734392a822021-12-02T01:35:30ZDesign and assessment of a low-cost, electromyographically controlled, prosthetic hand1179-1470https://doaj.org/article/867519c4e9934893972c777734392a822013-06-01T00:00:00Zhttp://www.dovepress.com/design-and-assessment-of-a-low-cost-electromyographically-controlled-p-a13513https://doaj.org/toc/1179-1470Massimo Polisiero,1 Paolo Bifulco,1 Annalisa Liccardo,2 Mario Cesarelli,1 Maria Romano,1 Gaetano D Gargiulo,3 Alistair L McEwan,3 Massimo D'Apuzzo2 1Department of Biomedical, Electronics and Telecommunication Engineering, 2Department of Electrical Engineering, University Federico II of Naples, Naples, Italy; 3School of Electrical and Information Engineering, The University of Sydney, New South Wales, Australia Abstract: The study reported here explored the design and realization of a low-cost, electromyographically controlled hand prosthesis for amputees living in developing countries. The developed prosthesis is composed of a light aluminum structure with opposing fingers connected to a DC motor that imparts only the movement of grasp. Problems associated with surface electromyographic signal acquisition and processing, motor control, and evaluation of grasp force were addressed, with the goal of minimizing cost and ensuring easy assembly. Simple analog front ends amplify and condition the electromyographic signals registered from two antagonist muscles by surface electrodes. Analog signals are sampled at 1 kHz and processed by a microcontroller that drives the motor with a supply voltage proportional to the muscular contraction, performing the opening and closing of the opposing fingers. Reliable measurements of the level of muscle contractions were obtained by specific digital processing: real-time operators implementing the root mean square value, mean absolute value, standard deviation, and mean absolute differential value were compared in terms of efficiency to estimate the EMG envelope, computational load, and time delay. The mean absolute value operator was adopted at a time window of 64 milliseconds. A suitable calibration procedure was proposed to overcome problems associated with the wide variation of electromyograph amplitude and background noise depending on the specific patient's muscles selected. A pulse-width modulated signal drives the DC motor, allowing closing and opening of the prosthesis. The relationship between the motor-driver signal and the actual hand-grasp force developed by the prosthesis was measured using a hand-held grip dynamometer. The resulting force was proportional to current for moderate values of current and then saturated. The motor torque, and, in turn, the force elicited, can be measured by sensing the current absorbed by the motor. Therefore, the grasp force can be opportunely limited or controlled. The cost of the only electronic and mechanical components of the electromyographically controlled hand was about US$50; other costs, such as the cost of labor to assemble the prosthesis and the production of adapters for patients, were not estimated. Keywords: electromyography amplitude measurements, electromyograph-controlled hand prosthesis, grasp-force measurements, low-cost designPolisiero MBifulco PLiccardo ACesarelli MRomano MGargiulo GDMcEwan ALD&#39;Apuzzo MDove Medical PressarticleMedical technologyR855-855.5ENMedical Devices: Evidence and Research, Vol 2013, Iss default, Pp 97-104 (2013)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medical technology R855-855.5
spellingShingle	Medical technology R855-855.5 Polisiero M Bifulco P Liccardo A Cesarelli M Romano M Gargiulo GD McEwan AL D&#39;Apuzzo M Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
description	Massimo Polisiero,1 Paolo Bifulco,1 Annalisa Liccardo,2 Mario Cesarelli,1 Maria Romano,1 Gaetano D Gargiulo,3 Alistair L McEwan,3 Massimo D'Apuzzo2 1Department of Biomedical, Electronics and Telecommunication Engineering, 2Department of Electrical Engineering, University Federico II of Naples, Naples, Italy; 3School of Electrical and Information Engineering, The University of Sydney, New South Wales, Australia Abstract: The study reported here explored the design and realization of a low-cost, electromyographically controlled hand prosthesis for amputees living in developing countries. The developed prosthesis is composed of a light aluminum structure with opposing fingers connected to a DC motor that imparts only the movement of grasp. Problems associated with surface electromyographic signal acquisition and processing, motor control, and evaluation of grasp force were addressed, with the goal of minimizing cost and ensuring easy assembly. Simple analog front ends amplify and condition the electromyographic signals registered from two antagonist muscles by surface electrodes. Analog signals are sampled at 1 kHz and processed by a microcontroller that drives the motor with a supply voltage proportional to the muscular contraction, performing the opening and closing of the opposing fingers. Reliable measurements of the level of muscle contractions were obtained by specific digital processing: real-time operators implementing the root mean square value, mean absolute value, standard deviation, and mean absolute differential value were compared in terms of efficiency to estimate the EMG envelope, computational load, and time delay. The mean absolute value operator was adopted at a time window of 64 milliseconds. A suitable calibration procedure was proposed to overcome problems associated with the wide variation of electromyograph amplitude and background noise depending on the specific patient's muscles selected. A pulse-width modulated signal drives the DC motor, allowing closing and opening of the prosthesis. The relationship between the motor-driver signal and the actual hand-grasp force developed by the prosthesis was measured using a hand-held grip dynamometer. The resulting force was proportional to current for moderate values of current and then saturated. The motor torque, and, in turn, the force elicited, can be measured by sensing the current absorbed by the motor. Therefore, the grasp force can be opportunely limited or controlled. The cost of the only electronic and mechanical components of the electromyographically controlled hand was about US$50; other costs, such as the cost of labor to assemble the prosthesis and the production of adapters for patients, were not estimated. Keywords: electromyography amplitude measurements, electromyograph-controlled hand prosthesis, grasp-force measurements, low-cost design
format	article
author	Polisiero M Bifulco P Liccardo A Cesarelli M Romano M Gargiulo GD McEwan AL D&#39;Apuzzo M
author_facet	Polisiero M Bifulco P Liccardo A Cesarelli M Romano M Gargiulo GD McEwan AL D&#39;Apuzzo M
author_sort	Polisiero M
title	Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
title_short	Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
title_full	Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
title_fullStr	Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
title_full_unstemmed	Design and assessment of a low-cost, electromyographically controlled, prosthetic hand
title_sort	design and assessment of a low-cost, electromyographically controlled, prosthetic hand
publisher	Dove Medical Press
publishDate	2013
url	https://doaj.org/article/867519c4e9934893972c777734392a82
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Design and assessment of a low-cost, electromyographically controlled, prosthetic hand

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