A

Project Report on

MYOELECTRIC PROSTHETIC ARM FOR BASIC

HUMAN HAND MIMICRY
By
Aakash Kumar Singh (1609732102)
Biplav Singh Kushwaha (1609732117)
Anupriya Mishra (1609732112)

Submitted in partial fulfillment of the requirements of

the degree of
Bachelor of Technology
In

Electronics and Instrumentation Engineering

Under the guidance of

Ms. Priyanka Sharma, Assistant Professor

Department of Electronics and Instrumentation Engineering Galgotias

College of Engineering and Technology, Greater Noida

Dr.APJ Abdul Kalam Technical University, Uttar Pradesh

December, 2019
 CERTIFICATE

This is to certify that Project Report entitled “MYOELECTRIC PROSTHETIC ARM FOR BASIC
HUMAN HAND MIMICRY” which is submitted by Aakash Kumar Singh, Biplav Singh Kushwaha
and Anupriya Mishra in partial fulfillment of the requirement for the award of degree B. Tech. in
Department of Electronics and Instrumentation Engineering of Uttar Pradesh Technical University,
is a record of the candidate own work carried out by him under our supervision. The matter
embodied in this thesis is original and has not been submitted for the award of any other degree.

Ms. Priyanka Sharma Mr. Shivam Gupta

Assistant Professor Assistant Professor

(Project Supervisor) (Project Coordinator)

Mr. Rajiv Kumar Yadav Ms. Ragini Singh

Assistant Professor Assistant Professor

(Project Coordinator) (Project Coordinator)

Dr. Praveen Kumar Maduri

Prof & HOD – EIE/ICE Department

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DECLARATION

I hereby declare that this submission is our own work and that, to the best of my
knowledge and belief, it contains no material previously published or written by another
person nor material which to a substantial extent has been accepted for the award of any
other degree or diploma of the university or other institute of higher learning, except where
due acknowledgment has been made in the text.

[Aakash Kumar Singh (1609732102)]

[Anupriya Mishra (1609732112)]

[Biplav Singh Kushwaha (1609732117)]

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 ACKNOWLEDGEMENT

It gives us a great sense of pleasure to present the report of the B. Tech Project has undertaken
during B. Tech. Final Year. We owe a special debt of gratitude to our supervisor Mr. Shivam
Gupta, Assistant- Professor-EIE, Department of Electronics and Instrumentation Engineering,
Galgotias College of Engineering & Technology for his constant support and guidance throughout
the course of our work. His sincerity, thoroughness and perseverance have been a constant source
of inspiration for us. It is only his cognizant efforts that our endeavors have seen the light of the
day.

Our deep sense of gratitude is accorded to Professor Praveen Kumar Maduri, Head, Department of
EIE/ICE for his constant official support, encouragement and motivation for our project work.

We wish to express our sincere thanks to our Project Coordinator Mr.Shivam Gupta, Assistant
Professor-EIE for the transmission of their enthusiasm, competence, as well as for the richness of
their guidelines and invaluable suggestions throughout the project.

We also do not like to miss the opportunity to acknowledge the contribution of all faculty members
and lab-Instructors of the department for their kind assistance and cooperation during the
development of our project. Last but not the least, we acknowledge our friends for their
contribution in the completion of the project.

Aakash Kumar Singh

Anupriya Mishra

Biplav Singh Kushwaha

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 LIST OF FIGURES
Figure NUMBER NAME Page No.

Figure 1.1 – Prosthetic toe made from leather and wood found on an 3

ancient Egyptian Mummy dated between 950-710 BC

Figure 1.2 - 300 BC: The Capua leg 4

Figure 1.3 - Hook hand 4

Figure 1.4 – various attachments and limbs made of different material 4

used in several eras of prosthetics evolution

Figure 1.5 – Evolution of prosthetic leg in terms of design and material 5

Figure 1.6 - Light weigth, perfectly wearable modern prosthetics 5

Figure 1.7- Classification on the basis of degree of amputation 6

Figure 1.8 – Passive prostheses 6

Figure 1.9 – Mechanical/Body controlled prostheses 6

Figure 1.10 – Myoelectric prosthesis 7

Figure 1.11 – Brain controlled prostheses 7

Figure 2.1 - Bones and joints structure of human hand 8

Figure 2.2 – DOF at a single point 9
Figure 2.3 -Degree of freedom in a finger 10
Figure 2.4 - Commercial finger images (top), kinematic models of finger joint 10
coupling mechanism (bottom)
Figure 2.5 – Various flexion arrangements of the human fingers – not possible 11
with modern prosthetic hands
Figure 2.6 – Various grip patterns of the Bebionic 3 12

Figure 2.7 – Examples of amputations suitable for the iLimb Digits 12

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Figure 2.8 – iLimb Digits attached to an amputee four fingers and the thumb 13

but palm still intact

Figure 2.9 – Artificial tendon driven anthropomorphic hand 13

Figure 2.10 – Integrated springs 13

Figure 2.11 – UB hand IV hand 14

Figure 2.12 – UB hand IV tendon network 14

Figure 2.13 – Twisted tendon actuation method 14

Figure 2.14 – Depiction of joint conformity 15

Figure 2.15: The stages of an action potential 15

Figure2.16: The neuromuscular junction. 16

Figure 2.17: The process of electromyography 16

Figure 2.18: EMG electrode placement 17

Figure 2.19: Example of raw EMG conversion to its root mean 17

square (RMS) equivalent
Figure 3.1.1: All 3D printed parts used in project 18

Figure 3.1.2: partially assembled desing for joint testing 18

Figure 3.2.1: Arduino UNO board 19

Figure 3.2.2 Servo motor and its wire configuration 19

Figure 3.2.3: Electro Myography 19

Figure 3.3.: circuit diagram 20

Figure 3.3.2: Circuit showing sensor connection 20

Figure 3.4.1: image showing anatomy of normal hand (A) and an 21

amputee’s hand (B)

Figure 3.4.2: Positioning of electrodes in case of complete amptede arm 21

Figure 3.5: Servo motor assembly in project design 22

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 LIST OF ABBREVIATIONS

BC Before Christ

CMC Carpometacarpal Joint

DIP Distal interphalangeal joints

DOF Degree of freedom

EMG Electromyogyaphy

IP Interphalangeal Joint

MCP Metacarpophalangeal joints

PIP Proximal interphalangeal joints

RMS Root mean square

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 TABLE OF CONTENTS

DECLARATION i
CERTIFICATE ii
ACKNOWLEDGEMENTS iii
LIST OF FIGURES iv
LIST OF ABBREVIATIONS vii
TABLE OF CONTENT viii
ABSTRACT x

CHAPTER 1 INTRODUCTION 1-7

1.1. BACKGROUND OF THE PROBLEM 1
1.2. OBJECTIVE OF PROJECT WORK 3

1.3 HISTORY AND EVOLUTION OF PROSTHETIS 3

1.3.1 950-710 BC The Greville Chester toe 3
1.3.2 300 BC: The Capua leg 4

1.3.3 476-1000 (Middle Ages) 4

1.3.4 1400s-1800s (The Renaissance) 4

1.3.5 1863 4
1.3.6 1945 4
1.3.7 1970s-1990s 5
1.3.8 2000-present 5

1.4 TYPES OF PROSTHETIC 5

1.4.1 Classification depending on the degree of amputation 5
1.4.2 Classification on the basis of controlling device 6

CHAPTER 2 LITERATURE REVIEW 8-17

2.1 MODERN PROSTHETIC ARM 8
2.2 THE HUMAN HND ANTANOMY 8
2.2.1 Bones and joints 8
2.3 DEGREE OF FREEDOM 9

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 2.4 CAPABILITIES AND LIMITATON 10
2.5 COMMERCIALLY AVAILABLE TECHNOLOGIES 11
2.5.1 The Bebionic 3 11
2.5.2 iLimb digits 12
2.5.3 Vanderbilt Hand 13
2.5.4 UB hand IV – twisted tendon design 14

2.6 HOW MUSCLES CONTRACT 15

2.7 NEUROMUSCULAR JUNCTION 16
2.8 ELECTROMYOGRAPHY 16

CHAPTER 3 PROJECT 18-22

3.1 MECHANICAL DESIGN 18
3.2 MAJOR COMPONENTS USED 19
3.2.1 ARDUINO UNO 19
3.2.2.SERVOMOTORS 19
3.2.3 ELECTROMYOGRAPHY SENSOR 19

3.3 CIRCUIT DIAGRAM 20

3.3.1 Circuit to connect EMG with arduino 20

3.4 MAJOR PROBLEM REGARDING POSTING OF ELCTRODE 21

ON AMPTED PART
3.5 ASSEMBLED PRODUCT SHOWING SERVO MOTOR ASSEMBLY 22

CHAPTER 4 CONCLUSIONS 23

REFERENCES 24

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 ABSTRACT

The loss of a limb can be a very traumatic experience for a person. Prosthetics are devices
that can help restore some of the functionality to the user. However, without insurance,
prosthetics can be very expensive, creating demand for more efficient and cheaper
prosthetics.Our research uses an Arduino microcontroller to design a myoelectric
prosthetic a prosthetic that reads electrical signals from the residual limb and powers
motors for movement.