A

Sy
nopsi
sRepor
t
On
Pr
ost
het
icAr
m usi
ngEMGmuscl
esensor

Submi
tt
edt
othedepar
tmentof
El
ect
roni
csandCommuni
cat
ionEngi
neer
ing
By
Deepi
kaShar
ma (
1716431055)
AkashkumarJai
swal (
1716431018)
Abhi
shekYadav (
1716431007)
Ay
ushShukl
a (
1716431051)
Adi
tyaKumarSi
ngh. (
1716431014)

Undert
hegui
dance
Of
Dr
.Vi
vekKumar
(
Assi
stantPr
ofessor
)

Pr
anveerSinghInsti
tut
eofTechnol
ogy
,KanpurDr
.
A.P.J.AbdulKalam Techni
cal
Uni
ver
sit
y

Jul
y2020
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ogy
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i,Kanpur
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U.P.
),
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DECLARATI
ON

Thisist ocerti
fythatSy nopsi
sent i
tl
ed“ …Prostheti
cAr m usingEMG
musclesensor …”,whichissubmittedbymei npar t
ialf
ulf
il
lmentoft he
requi
rementf ort he awar d ofdegr ee BachelorofTechnol ogy in
Elect
ronics&Communi cati
onEngineeringtoPranveerSinghInsti
tut
eof
Technology,KanpurDr .A.P.J.A.K.Techni calUni v
ersi
ty,Lucknow
compr i
sesonl ymyown wor kand dueacknowl edgementhasbeen
madei nthetexttoall
othermat er
ialused.

Dat
e: NameofStudent
:
26Jul
y,2020. Deepi
kaSharma

Appr
ovedBy
:

Dr
.Y.M.Dubey
(
Prof
essor&HOD)
El
ect
roni
cs&Communi cat
ionEngi
neer
ing
PSIT,
KANPUR

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),
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CERTI
FICATE

Thisist ocer t
if
ythatSy nopsisentit
led“ ..Prost heti
cAr m usingEMG
muscle sensor ….”,whi ch is submi tted by …Deepi ka Shar ma,Akash
kumarJai swal,AbhishekYadav ,
AyushShukl a,Adi t
yaKumarSi ngh..
..
.i
n
parti
alfulf
il
lmentoft her equirementf ortheawar dofdegr eeB.Tech.in
Elect
ronics&Communi cati
onEngi neeringt oPr anveerSinghInstit
uteof
Technology,KanpurDr .A.P.J.A.K.Techni calUni versi
ty,Lucknowi sa
recordoft hecandi dat eownwor kcar r
iedoutbyhi m undermy /
our
supervi
sion.Themat terembodi edint histhesisi soriginalandhasnot
beensubmi ttedfortheawar dofanyot herdegr ee.

Dat
e: Super
visorName
(Desi
gnati
on)
El
ect
roni
cs&Communi cati
onEngi
neer
ing
PSIT,
KANPUR

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ABSTRACT
Thepaperdescr ibesanew met hodandsy stem,designedf orappl i
cati
ont oupper
extremity prosthesi s.Arti
fi
ciallowerl imb wi th ournew sy stem isar obotar m
cont rol
l
edbyEMGsi gnalsandi tsmov ement si scontroll
edandcor r
ectedbysetof
ultrasonicandi nfraredsensor s.Bymul tisensor ysystem i scr eat
ingandupdat i
ng
i
nf ormationaboutr obotenvironment.Themul ti-
sensorsy stem isbasedonul t
rasoni
c
sensor sandi nfraredsensor s.Themul ti-sensorsy st
em cani dent i
fytemperatureand
distanceofobj ectsi n3Dspaceandcont rolsy stem canchoosesanadequat ereacti
on
basedoni nfor
mat i
onf rom t
hesensorsy stem andf uzzylogic.Thesy stem i
sdesigned
as an assi sti
vet echnologyf ordisabl
ed peopl e.The r obot i
c arm is a modelof
promi si
ngpr ostheticarm andi t
scontrolsy stem andusedmet hodswer edesignedand
verifi
edbyMATLAB/ Simuli
nk.

I
NTRODUCTI
ON
Current l
yinr obot i
cs, commoncont rolsy st
emsofr obot icar msar ebasedonpoi ntt o
pointmet hodf orappl i
cat ioni nindust rialmani pulators, controlofr obotmani pul atorsi njoint
space.I nt hecaseofl owerl imbpr ost hesi scont r
ol,adv ancedsy stemsf orpr ost hetic
applicationsusual lyuset heEMGsi gnal t
ocont rolarm mot ion.Thi sar mi scal ledast he
my oelect r
icpr ost hesi s.Howev er,noneoft hesensor swasusedi nacommer ci all
y
manuf acturedmy oelect ricpr osthesi s.TheCommer ciallymanuf acturedmy oel ect ri
c
prosthesi susesonl yt hedi rectcont rol (i
.e.f orwardki nemat i
cs)oft her oboti
car m byt he
processedEMG si gnalwi thoutaddi ti
onal signalaboutt heposi ti
onoft hear ti
ficial armi nthe
3D space.EMG si gnalact uatorr ot ation, i
sal way sneededaonemuscl emot oruni t.For
thi
sr eason,t hecommer ciall
ymanuf act uredmy oelectricpr osthesesar eequi ppedwi thup
tothreeact uators.Thepat i
enthasal imi tedabi li
tytol ear nmor ethansi xmuscl emot oruni ts
thatwer enotor igi
nal l
yi ntendedt ocont rol t
her otaryact uatormot ion.Adv ancedpr ost het i
c
l
owerl imbsorr obot i
csar mscont rol l
edbyEMG ar eequi ppedwi thsensor sthati dent i
fyt he
anglesofeachj ointact uator .Thesej ointangl esensor spr ovi
dei nformat i
onaboutt he
rel
ativeposi ti
onoft hear m segment s,butdonotpr ov i
dei nfor mat i
onaboutt her obot
arm env ir
onment .Cur rent ly,thepr ost het icl owerl i
mbsdonotusesensor st oi nformt he
control system ofmy oel ect ri
cprost hesesaboutt heenv ironment .Inor dertor emov et hel ack
ofsensor yinformat ionf ort hecont rol oft hemor et hanjustonedi rectionofr ot ation
mov ementbyonemuscl emot oruni tandi nformat i
onaboutr obot i
car m env ir
onment
whichcanl eadt omor eef f ecti
vecont rol ar m mov ement swehav et odesi gnnewmul ti
-sensor
system andcont rolmet hod.

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OBJECTI
VE&SCOPE

•Wedesi
gnedasy
stem/
met
hod of t
he cont
rolof t
hemy
oel
ect
ri
crobot
icar
m
basedonsensory-actuatorl
oop.Thesensorysy
stem consist
softheEMGsensorwi
th
i
ntegralel
ect
rodesf orprosthet
iccont
rolandmulti
-sensorsyst
em whi
chi
sbasedon
ul
trasoni
csensorsandi nfr
aredsensor
s.
•Thecont
rolsy
stem choosesappropri
atesetofcont rolactionsf
ortheact
uator
s
oft he ar
ti
fi
cialupperext r
emit
y( i
.e.my oel
ectr
icrobotic ar
m)and an adequat
e
reacti
onbasedoni nformationf
rom themul t
i-
sensorsy stem.

NEEDOFTHEPROJECT

1.Abl
e t
o r
ead si
gnal
s pr
oduced hand muscl
eswhen t
o cont
ract
. And t
o
undertake techni
cali
mpl ementationEMGsi gnali
sr ead,isexpect
edt o cl
icki
ng t
he
analysi
s and cl assi
ficationcli
cking EMG si gnals wer er ead to determinet
he
mov ementoft hehandt hatisbeingdone.
2.Gener at
es design r obot i
c hand t hathas theappr opr
iate motion models of
commonhumanhandmov ements,namel yi
ngr asping motion(f
lexi
on),openhand
(ext
ension),andt herotationarm( pronati
onandsupinati
on).

METHODOLOGY

EMG sensorwi thel ect r

odesi susedf orr ecor dinganddat a pr epr ocessing.The si gnali s
fil
tered and cal culat ed t heEMG si gnalenv elope,[18],[19].Env elopeofEMG si gnalis
adjust ed accor ding t ot he used cont r
olmet hod whi ch can bebasedon f orwar d or
i
nv erseki nemat ics.Ift he r obot i
carm i scont roll
ed by f orwar d ki nemat i
cs,EMG si gnal
env elope isnadj ustedso t hattheangul arv elocityoft hejoint(i.e.act uator
)isproportionalto
themagni t
udeoft heenv elope.
Inor dert oreadt heel ect ri
cpot enti
alfr
om t hemuscl esofthear m( EMG) ,
aMuscl e
SensorKi twer eimpl ement ed.Thi ski
tincludesaspeci almicrocont roller
,with
electrodehook- ups.Theel ectrodesarepl acei nt hesamel ocationasdescr i
bedpreviously.
Ideally,themi crocont rollerwoul dpickupt heel ect r
icalsi
gnalsf rom t hear m andrel
ayt he
signal st othemot orsf ormov ement.TheMuscl eSensor ,howev er ,doesnotsendt heraw
signal sfrom t hemuscl est ot hemot ors.Thesensorconv ertst hesi gnalintoar ecti
fiedand
smoot hedwav easdescr i
bedpr evi
ouslywi thRMS,sucht hatitcanwor kwel lwit
hAr dui
no's
Digital-t
o-Analogconv erter.

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SYSTEM ARCHTI
TECTURE

Fi
gur
e1

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TOOLS&TECHNOLOGI
ES

Har
dwar
eRequi
rement
s

 Ar
dui
noBoar
d

 EMGmuscl
esi
gnal
sensorki
t

 Ser
vomot
or

 9Vbat
ter
y

 9Vbat
ter
yconnect
or

 Br
eadboar
d

 JumperWi
res

 El
ect
rodepad

Sof
twar
eRequi
rement
s

 Ar
dui
noCompi
l
er

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COSTANALYSI
S
S.No. Har
dware Speci
fi
cat
ion Quant
it
y Cost
Component
s
ATmega328P- 8
1 Ar
dui
noUno bitAVRf amily 1 700
mi crocontrol
ler
,
Oper at
ing
Vol tage-
5V, Recommend
edI nput
Vol tage-7-
12V, Input
Vol tageLimits-
6-20V, Analog
InputPi ns(A0-
A5)

2.4* 1.
3* 0.5
2 My owav
eser
vo i
nches 1 1600
sensor ByAdv ancer
technol ogy ,
LLC
6XMG90S
3 Met al
GearRC 1 600
Ser
voMot
or Mi croSer vo
13. 4g
8.5* 5.
5cm 400
4 Br
eadboar
d ti
epoi nt s400 1
holessol der 200
l
ess

5 9Vol
tBat
ter
y Al
kal
i
ne9V 2 30
10cm maleto
6 JumperWi
res femaleand Asr
equi
red Rs3perpi
ece
femaleto
femaleand
mal etomale
j
umpercabl e
RedDot
7 El
ect
rodepad Electr
ode 1 850
8.7*4.
6*1.
1inch
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REFERENCES

[1]R.Kel ly,V.Sant i
báñezandA.Lor ia,“Cont r
ol of
robotmani pulator sinj ointspace” ,London:
Spr i
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[2]M.I .C.Dede,S.Nasser ,S.Ye, andS.
Tosunogl u,“ Cer berus: Dev el
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[3]A.Tur a,C.Lamber ti,A.Dav alliandR.
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c
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”,
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el d,C.W.
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disar t
icul ationf itti
ngwi th6i ndependent ly
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hiNat
ional
Highway(
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i,Kanpur
-209305(
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),
I
ndi
a
cont roll
edmot orsaf tertar getedhy per-
reinner vat
ionner vet r
ansf ersur ger y”,Pr
oc.
My oel ectr
icCont rol Symposi um, pp21–4, August
2005.
[8]P.K.Ar temi adi sandK.J.Ky ri
akopoul os,
“EMG- BasedCont r olofaRobotAr m UsingLow-
Dimensi onal Embeddi ngs” ,IEEETr ansact i
onson
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[9]O.Fukuda, T.Tsuj i,M.KanekoandA.Ot suka,
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International

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