Department of Electrical Engineering

B.Sc. THESIS TOPIC PROPOSAL/ SYNOPSIS

Project title

“Designing Electric Hand for Disabled

Personnel

”
Supervisor

DR. Wilayat Khan

Group Members

Rashid Yaqoob FA17-BEE-193

Qaisar Abbas Khan FA17-BEE-115

Abu buker FA17-BEE-145

 ABSTRACT

In this era of technology, everything is possible to do. We can create a new product even just
by merging existing technologies to develop a new and creative product. We have developed
a product by using existing technologies that is Prosthetic hand. This hand is specially for
those who are handicapped. Prosthesis can play a key role in rehabilitation of amputees. It
can boost an amputee's mobility and be a means for independence. This research is a basis for
the production of a prosthetic hand controlled by electromyography (EMG). EMG signal is a
complex signal and cannot be used to control a device. This study is designed to develop a
tool that can turn the EMG signal from the forearm, by processing, into a controlling signal
and develop a low cost and dependable prosthetic hand based on the gear that can be operated
by this device.
ACKNOWLEDGEMENT

We are thankful to Almighty ALLAH and grateful to our supervisor Dr Wilayat Khan for
His moral support and guidance. This research work is dedicated to our Parents, Teachers
and Friends who helped, motivated and developed us into who we are today. We want to
specially thank to Dr Wilayat Khan for his supervision for His professional support,
throughout this project.

CONTENT
Department of Electrical Engineering........................................................................................1
Group Members.........................................................................................................................1
Introduction:...............................................................................................................................6
1.1 Motivation............................................................................................................................6
1.2 Objective..............................................................................................................................6
1.3 Methodology........................................................................................................................7
1.3.1 Literature review:..............................................................................................................7
1.3.2 Designing of circuit diagram:..................................................................................7

1.3.3 Mathematical Modeling:...................................................................................................7

1.3.4 Work on coding:................................................................................................................7
1.3.5 Finalize our project and working on report:......................................................................7
1.3.7 Prepare presentation:.........................................................................................................7
1.4 Organization of the report:...................................................................................................7
1.4.1 Chapter 1:.................................................................................................................7

1.4.2 Chapter 2:.................................................................................................................7

1.4.3 Chapter 3:.................................................................................................................8

1.4.4 Chapter 4:.................................................................................................................8

1.4.5 Chapter 5:.................................................................................................................8

1.4.6 Chapter 6:.................................................................................................................8

1.4.7 Chapter 7:.................................................................................................................8

Chapter 2....................................................................................................................................9
2 Literature Review:...................................................................................................................9
2.1 Research Paper:....................................................................................................................9
2.1.1 Review:......................................................................................................................9

3 Requirements Specifications:................................................................................................14
3.1 Non-functional Requirements:...........................................................................................14
3.1.1 Product requirements:.....................................................................................................14
3.1.2 Organizational requirements:..........................................................................................15
3.1.3 External requirements:....................................................................................................15
3.2 Functional Requirements:..................................................................................................15
3.2.1 Category 1:......................................................................................................................16
3.2.2 Category 2:......................................................................................................................17
4 Project Design:......................................................................................................................20
4.1 METHODOLOGY:......................................................................................................20

4.1.1 Block Diagram of Signal Acquisition.............................................................................21

Architecture Overview.........................................................................................................21

4.2 Design Description.............................................................................................................22

5 Feature Extraction.................................................................................................................23
Further Proceedings Schedule..................................................................................................27
Schedule...............................................................................................................................27

6.1 Experimental Results:........................................................................................................33

Figure 6.1.................................................................................................................................34
Figure 6.2.................................................................................................................................35
Figure 6.3.................................................................................................................................36
7 Future Work..........................................................................................................................36
CONCLUSION........................................................................................................................37
Chapter 8..................................................................................................................................38
References................................................................................................................................38
,

List of Figures
Figure 2.1 Eight Conical Hand Postures..................................................................................14

Figure 2.2 Typical Controlled Classifier..................................................................................15

Figure 2.3 Example I/P And O/P in ANN................................................................................16

Figure 3.1 Motion Specification..............................................................................................20

Figure 4.1 Methodology Block of Signal Acquisition.............................................................26

Figure 4.2 Detailed Architecture Overview.............................................................................26

Figure 4.3 Complete Architecture of Prosthetic Hand.............................................................27

Figure 4.4 EMG Electrodes......................................................................................................28

Figure 4.5 Simple EMG Amplifier Block................................................................................28

Figure 4.6 Servo Motor............................................................................................................29

Figure 4.7 Gear DC Motor.......................................................................................................30

Figure 4.8 Arduino...................................................................................................................30

List of Tables
Table 3.1: Organizational Requirements.................................................................................19

Table 3.2 : External Requirements...........................................................................................19

Table 3.3 Desired Functional Tasks.........................................................................................21

Table 3.4 Targeted grasps, minimum performance, for functional tasks.................................22

Table 3.5 Targeted Grasps for Functional Tasks, Maximum Performance.............................23

Table 5.1 Work Stages.............................................................................................................32

Table 5.2 Time Required (Rough Estimation).........................................................................33

Chapter 1

Introduction:

People have been working on prosthetic hands from many centuries. In recent years, the
trend has been shifted from passive to active prosthetic hands because they can deliver power
and mimic hand movements up to some extent. Still most commercially available prosthetic
hands are unreliable and can only replicate two or three hand movements.
In an active prosthetic hands, actuators are used as replacement of muscles. Actuators can
be controlled by microcontroller, which needs some kind of controlling signal. Mainly, two
types of controlling signals are used. One is electroencephalogram (EEG) and other is
electromyography (EMG). EMG signals are generally used for this purpose because it is easy
to detect and process EMG signal. Raw EMG signals cannot be used to control the actuators.
Some pre-processing is needed. Mostly, myoware devices are used for detection and
processing of EMG signal, this data is used to classify movements of the hand but there are
some limitations of myoware devices.
The purpose of this study is to design and develop a reliable gear-based prosthetic hand
with built in device for below elbow amputees, which can detect EMG signal and process it
so it can be used as controlling signal. These devices usually consist of amplifying circuit,
which is used to feed data into microcontroller. At last stage a classification algorithm is used
which classifies the movements. Once this controlling signal is generated it is used to control
the actuators in the prosthetic hand. These actuators control the movement of the fingers.
Following are the deliverables which were to be achieved in this project.
 To build a three-channel device which can collect EMG data and can transfer it to
microprocessor.
 To build algorithm which can classify at least two movements from the EMG data of
healthy hand in real time.
 To build a device with above mentioned deliverables, which can fit inside a 3D
printed prosthetic hand.
 To develop or design an Active geared prosthetic hand which can replicate the
movement of original hand with the help of motors through classification device.

1.1 Motivation
Patients who have suffered from amputation of the accident or illness are prescribed
prothesis hands. This helps patients to recover their missing hands and remove the negative
emotions of the disabled. Intuitive controls based on electromyogram (EMG) signals from
operators were found to have myoelectric prosthesis hands.

1.2 Objective
 The main goal is to substitute a person's missing hand to the prosthetic hand with highest
possible degree of accuracy.
1.3 Methodology

The project methodology we follow is given below:

1.3.1 Literature review:

The first step in our project is literature review. We should know about current
knowledge, findings, methodology and contribution to our particular topic. It help us to
know about the previous work which have already done on the project.

1.3.2 Designing of circuit diagram:

Our second step is to know about the circuit diagram and get information about the
components used in it.

1.3.3 Mathematical Modeling:

In mathematical modeling we develop a mathematical model which include all the
calculations we need.

1.3.4 Work on coding:

We will code our project by using Arduino and Anova Tests.

1.3.5 Finalize our project and working on report:

Our project report is on Latex so in last we make a report of it.

1.3.7 Prepare presentation:

At last, we make the presentation which include all the detail about our project.

1.4 Organization of the report:

The chapters are as follows.

1.4.1 Chapter 1:
In chapter 1 we give the brief introduction of our project. The main purpose and
objectives of the prosthetic hand and also discuss about the methodology we followed to
complete our project.

1.4.2 Chapter 2:
In chapter 2 we discuss the literature review which cover the current knowledge,
theoretical and methodological contribution to our project.
1.4.3 Chapter 3:
In chapter 3 we cover all the functional and nonfunctional requirements. In
Nonfunctional requirements we discuss product requirements, organizational requirement and
external requirement.

1.4.4 Chapter 4:
In ongoing chapter, we discuss the design and circuits used in the project. The design
description and architecture overview are clearly discussed.

1.4.5 Chapter 5:
Next is our Implementation of the project. In it we discuss the issues we faced and step we
followed in implementation. In it we also discuss the key functions which is necessary for our
project.

1.4.6 Chapter 6:
In chapter 6 we discuss about the evaluation of our project. In it we talk about all the procedure
we followed in the evaluation and then summarize the results we find from it.

1.4.7 Chapter 7:
In the end we briefly present the conclusion of our project. And also discuss about the future
work.
 Chapter 2

2 Literature Review:

Now a days there are many systems and researchers exists which do a lot of work in this
field. The advantage of study of literature is to get enough important data and learning on
undertakings which are done by others.

2.1 Research Paper:

Year of Publish:
September ,2012

Authors:

 James Milner

 Jurgen Klopp

2.1.1 Review:

This analysis is intended to address surface EMG methods in order to detail the latest
advances in electro-measure management programs for the prothesis of hands.

A prothesis hand may be practical or cosmetically pleasing for several years, but not both.
For example, body driven hooks did not imitate human hands, but they were, unlike passive
prosthetics, functionally capable. At the beginning of myoelectric architecture, often the
amputees would choose a hook powered by a body over a more realistic, myoelectric hand
because its functionality lacked significantly. Various important factors led to early
myoelectric hands' functional weakness. Firstly, the number of myoelectrical hands was
extremely reduced. Initial myoelectric hands were designed with just one degree of freedom
and carried out a core bottom opening and closing movement. These hands have been
worked on switch; the opening and closing were subsequently regulated in proportion.

There are 5 grasping initially described as the most essential for a prothesis man's
functionality:), lateral grasps, pinch grasp (used to hold small objects, spherical grasp
(thumb and fingers grasp a spherical object), hook like grasp (for things like books or briefs
used for carrying) and cylindrical objects grasp (thumb and fingers grab a round object) [1].
Three more significant grasps were subsequently established the centralized grip (for the
holding of things such as food items), wrist flexion and: the flattened hand (for holding
objects with large surfaces) [2-5]. The 8 most important patterns of grip for everyday
activities:

Figure 2.1 Eight Conical Hand Postures

 Techniques of Signal Classification Used:

A critical number of design researchers have dealt with the question of character
characterization for the last ten years, clearly on the grounds that a mixture of robust
character preparation and order calculation is a prerequisite for a prosthetic, suitable and
human anode-based prosthetic hand. Better classifiers allow for a more remarkable amount
of needlework, faster response time, and more precise strategy. Despite the fact that it is
basically a planning problem that is problematic in getting a reasonable number of
possibilities (DOF), the arrangement of the characters is similarly important. An anode-
based prosthetic hand will not perform reliable or precise polls without a high-level
character classifier.

By decreasing the dimensionality and sample position on the web, and by unrelated
learning, the parts of a character characterization can be broken down into the basic phase
of highlight extraction. Much research has focused on improving extraction and exemplary
recognition of capacity, and different strategies are being developed in the related segments
for each of these contracts.

Figure 2.2 Typical Controlled Classifier

 Extraction of features

Recognizing and selecting the most helpful segments of the prepared character is the
fundamental goal of the component extraction phase. A wise element decision is a
fundamental advance in the arrangement of characters. pick implies that development
designs are recognized most explicitly, a higher PCA level is used to minimize the
measurement and is in contrast to the yield / execution when the element vector sorts the
Highlight Map (SOFM) itself. The use of PCA and SOFM is additionally considered
together, and ANN (multiplayer) was used to confirm the design. Every time each
instrument was used alone, the results showed that the SOFM achieved much greater
accuracy while taking much more remarkable registration time.

Two results led to an ideal compromise between low error rates and short processing times.
All cycles (9 movements) in less than 125 ms could be performed.

Figure 2.3 Example I/P And O/P in ANN

 Techniques of Pattern Recognition

The highlights extracted to anticipate the expected movement and, based on this data, select
the subsequent development of the prosthesis in the design confirmation phase of the
character grouping

There are many common models used to recognize designs: direct classifiers, e.g. Straight
discriminant capacities, Bayesian classifiers, support vector machines, the least squares
strategy and the nonlinear classifiers that generally use re-proliferation and neural
organizations (as well as nonlinear auxiliary vector machines) and the fluffy enhancement
based bundling computation among others. It is important to adjust the machine weight,
precision and reliability in highlighting the highlights. Different classifiers can often be
consolidated for the best results, or the classifier can be linked to an hereditary computation
to improve presentation.
Chapter 3
3 Requirements Specifications:
Requirement Analysis is a method that defines the user requirements of a new project and
explains how the system or system properties, or characteristics should be comported. The
requirements analysis method includes complex tasks of obtaining and recording, modelling
and evaluating and documenting the requirements of all these users as a simple system
design. There are two sections of the specifications.
 Non-Functional Requirements
 Functional Requirements

3.1 Non-functional Requirements:

3.1.1 Product requirements:

Table represents the product requirements with their priority
 Table 3: Organizational Requirements

Priorities Details of Requirements

1 Promotion: The cycle and records submitted confirm the
interaction and expectations outlined in the Certificate
Project Student's Handbook report.

1 Standard: The final product quality is of

Level of Bachelor or higher.

Table 3.1 : External Requirements

Priorities Details of Requirements

3 Safety: Our project can be used safely.

3 Security: There is degree project that is without strict

security requirements
1 Ethical: There is no unethical usage of electronic material
in the application
1 Legislative: No specific or sensitive data shall be
demanded and there is nothing in the project which is
against any legislative law.

3.1.2 Organizational requirements:

Table 3.1 points out organizational criteria.

3.1.3 External requirements:

Table 3.2 points out external criteria.

3.2 Functional Requirements:

A-earlier arrangement of conditions/details to be overhauled during the task. These
determinations are from the client's perspective, not the designing arrangement. "Simple to
control" is, for instance, an attractive designing prerequisite, paying little heed to the client's
properties
what is desired:
 Motions
 Force range
 Size, scale, weight and latency.
 Autonomy
 Durability/unwavering quality (strength, and so forth)
 Patient surveys
 Modularity (adaption to various removals)
 Expenditure

3.2.1 Category 1:

Motions Desired
The definition consists of two levels. The primary level shows the pragmatic exercises
we think are important to do by hand. In the following phase, the rough development is
assigned to these exercises. Numerous useful companies will make a similar gross move.

Movement natives with anatomical developments can finally be characterized. The

movements are grouped into two sections for each stage: Minimum Execution and
Maximum Execution.

The automated framework should be able to perform ideally, but should be adjustable in
terms of the removal rate and the richness of the patient's EMG signals to reduce it to a
base display.

Figure 3.4 Motion Specification

 3.2.2 Category 2:

Specifications of Motion:

Contrary to some of the studies mentioned above, we need to represent a wide range of
exercises, including static grasping, control, and free grooming. Get a grip on statically: Get
a grip on activities in which the fingers are fixed as soon as the object is handled and the
wrist or arm is doing enough activity. (For the most part power grip) Manipulation:
Changing the grip for object area and direction. (Regularly according to precision) Free
control: The free development of each finger can come into contact with things or other
fingers at some point. In addition, we don't need incremental motion control, which is
required for ideal execution of thumb, list, and focus fingers. The sensible errands for the
lowest and highest hand haul are listed in the tables below:

Table 3.2 Desired Functional Tasks

FUNCTIONAL TASKS

FUNCTIONAL TASK
MINIMUM
MAXIMUM PERFORMANCE
PERFORMANCE

Eating /Use of cutlery - motion from plate to - Combined motions

mouth for spoon & fork. (fork + knife)
- Cup movement table-to- Use of chopsticks.
mouth. . - Opening of bottle.

Personal Hygiene - Combing hair, brushing - Handling scissors.

teeth. - Washing? (wet hand)

Dressing /Undressing - Handling of clothes - - Tie shoelaces.

Zips, buttons.

Operation domestic - Holding devices - Pushing of button (thumb).

devices / Cooking - Button pushing (index - object holding ontrol
finger)

Handling finger. fingers.

- paper handling. - Handwriting.

Communicate with hand - Index finger pointing - speech of sign

 Playing - Ball handling, holding
Racket, holding poles -

Table 3.3 lists the grasps for minimum and maximum performance that match the
desired functional tasks. We also evaluate whether it is necessary to handle the wrist or
to manipulate fingers fine. Free manipulation for tasks is described in the last column.

Table 3.3 Targeted grasps, minimum performance, for functional tasks.

CORRESPONDENCE WITH GRASPS

FUNCTIONAL TASKS PRIMITIVES GRASP Free main.

Wrist Finger
main. main.

Eating Thumb (adducted) (4), yes no no

Large diameter (1)

Hygienic Personnel Thumb (adducted), small yes no no

diameter (2)

Dressing & Undressing Pinch of palm (9), no no no

Extension in parallel (22),
tip pinch (24)

Operation domestic devices / Huge, little breadth no no Pointing index

Cooking (1,2), medium wrap
(3), adducted thumb (4)

Hand communication NO no no Pointing index

Sports power sphere (11), Thumb yes no no

(adducted)
Maximum performance is given in Table 3.5

Table 3.4 Targeted Grasps for Functional Tasks, Maximum Performance.

TABLE 3: CORRESPONDENCE WITH GRASPS

FUNCTIONAL TASK GRASP PRIMITIVES Wrist Finger Free man.

man. man.
Eating /Use of cutlery Grater diameter (1), yes yes no
finger of index extension
(17)
Thumb (adducted) (4)
tripod variation (21),
ventral (32)
Personal Hygiene small diameter (2), distal yes no no
type (19), Adducted thumb
(4),
Dressing & Undressing Tip pinch (24), Palmar yes no no
pinch (9), parallel
extension (22),
Operation domestic Huge, little breadth yes yes Pointing
devices / Cooking (1,2), medium wrap (3), index,
adducted thumb (4), thumb
fixed snare (15) parallel Abd/add.
(16),
Opening doors Sphere of 3 or 4 finger yes no no
(26 or 28), medium
wrap (3), lateral (16)
Writing Extension in parallel (22), yes yes Each
pinch of palm (9), writing finger
tripod (20) pointing,
finger
Abd/add.
Communicate with hand NO no no Full dof

Sports Thumb (adducted 4), power yes no no

sphere (11)
Chapter 4
4 Project Design:

4.1 METHODOLOGY:
The overall concept was viewed as a feasibility study for this prothesis. It was concluded that
the building of a whole prosthesis arm was not necessary after the necessary context analysis
and market research on the products available. Any short timeline for this project will
become much more practical with a prothesis side.
For the remainder of the project a range of design criteria were formulated and adhered to.
The design process started with brainstorming, followed by rough pencils and finally
thorough work with computer aids using CAD tools from Solid Works. The electric and
mechanical components have been developed and incorporated into the design as the
mechanical design is progressing. The design has been revised every day with new iteration
until it is sufficiently optimized for production. A "product" mindset was adhered to while
thorough design work was completed. In addition to manufacturability, the quality of the
finished product will be equally essential. In comparison to individual components, for
example, some of the same components should be used where possible. It would also be
highly desirable to reduce the total number of components and parts. During the detailed
design process, understanding and reflection on how every individual component would be
produced was taken into account. In addition, various biological sensors were discussed,
which will be used to detect and convert the EMG signal into electrical form and surface
electrodes were finally decided on. In steps including various electronic filters, signaling will
be acquired and interpreted Circuits. A standard microprocessor that can handle sensor inputs
and motor outputs is widely available.
4.1.1 Block Diagram of Signal Acquisition

Figure 4.5 Methodology Block of Signal Acquisition

Architecture Overview

Motor points to place

obtained from offline Muscle sensor Raw EMG
analysis

Classification of
Decomposing signal
movements using
using NNMF method
LDA
Figure 4.6 Detailed Architecture Overview
 Figure 4.7 Complete Architecture of Prosthetic Hand

4.2 Design Description

EMG Electrodes:
In this task, EMG signals are used as a control signal for the development of the hand
prosthesis. Basically, the EMG signal estimates the electrical flows created in the muscles
during their compression / unwinding action, and this flow is essentially delivered due to
neuromuscular movement. The sensory system controls the EMG signals. There are two
types of EMG flags, the first of which is called surface EMG. The following is called an
intramuscular EMG. Surface EMG is character recognition from the upper surface of the
skin, while the intramuscular character is differentiated by embedding a cathode in the skin.
 Figure 4.8 EMG Electrodes

Simple Amplification Circuit

The advantage of proposed amplification circuit on already built devices is that it is cheaper
than the above mention devices. It consists of two amplification stages as shown in figure
below. This circuit just amplify EMG signal and make them detectable by microcontrollers/
Arduino

Figure 4.9 Simple EMG Amplifier Block

5 Feature Extraction

To classify the hand movements based on the sEMG data some kind of classification
algorithm is needed. These algorithms predict outcomes on the basis of some features, which
are extracted from the data. Feature selection is very crucial because classification accuracy
and execution time depend on these features [22]. List of different time domain and
frequency domain feature used in different relevant researches are mentioned in Fig. 2.11.
Features are selected on the basis of application. Due to limited computing power time
domain features are favorable because they need less computing power [23], but have
classification accuracy of
87.17%, whereas frequency domain features can have classification accuracy of 91.34% [24].
Selecting of sample of particular length also plays important rule in extracting the features, if
the sample size is too small or too large than it may degrade the results. For most accurate
results length of window should be in between 150 to 250 milliseconds [25]. There are
mainly two ways to extract features, one is overlapping window approach, and other is
disjoint sliding window. Any of them can be use depending on the application.
Software

For 3D designing popular software which are used are Creo, Fusion 360°, SolidWorks,
AutoCAD and CATIA. Selection of software is dependent upon personal preference but the
most popular one is SolidWorks because of its user-friendly GUI which makes it very easy to
learn. There is a lot of helping material available on the internet to learn this software. It also
offers all the computer-aided engineering (CAE) programs built in.
Motors

There are two types of motors used in the prosthetic hands, Servo motors and DC motors.
Servo motors shown in figure below are mainly used in thread based prosthetic arms due to
their limited rotation. They can usually turn 180 degrees in total, which cannot be used in
either worm gear or lead screw actuation mechanism, as they need more rotations to move
finger from open to close position

Figure 4.10 Servo Motor

Arduino Mega
Arduino mega is microcontroller board, which uses ATmega2560 microprocessor. It has 54

digital input output pins.15 of these digital pins can be used as PWM pins.

It has 16 analogs pins, 4 UARTs,16Mhz oscillator and a reset button as well. It can be

powered on just by connecting it with computer through USB cable or a simple battery. The

front side of Arduino mega is shown in figure below:

Figure 4.11 Arduino
Pre- Sketch of Complete Working:

 EMG based Prosthetic hand has one or more sensors that receives electrical signals fr
om the residual limb muscles that controls its function.
 Electric motors are used to move the joints of prosthetic hand.
 The sensors present in the prosthetic hand receives and pass on
the information to the controller.
 The controller translates the received data into commands and give these
commands to the electric motors for joints movement.
 The movement speed and strength is controlled by changing the muscle
Intensity which happens in an instant.
 Every joint of the prosthetic hand is controlled by the same muscle.
 At a time the positioning of one joint is allowed by the sequential control
Chapter 5

Further Proceedings Schedule

Schedule

Table 5.5 Work Stages

Project Proposal

Literature Review/
Study of basic
components

Design & development

using Software and
Arduino

Testing Phase

Problem Solving/ Error

Hardware
Implementation

Final Thesis Report

 Table 5.6 Time Required (Rough Estimation)

Rough Time
To Be Done estimation

Design & development using Software and 8 weeks

Arduino
3 weeks
Testing Phase

1 weeks
Problem Solving/ Error

1 weeks
Hardware Implementation

1 weeks
Final Thesis Report

Chapter No.5
5.1 Design & development using Software and Arduino
SOFTWARE DESCRIPTION:

Now that we've put the equipment of all the pieces together, we need to paste the code into
the Arduino board that will be that company's programming module. We wrote the code in
Arduino language that we need to stack into the programming module, then collect the code
to check if the composite code has an error at this point, if there is a chance that we will not
have an error receive. We need to transfer the code after the company transfer works
according to the transferred code. We have three programming steps in this preparation, they
are as follows;

 Compile

 Upload

 Upload completed

5.2 Mechanical Functionality:

The prosthetic hand, which contains the four isolated parts when we accompany
them, forms the arm finger and a servo

Motor housing in which we will connect the servo motor associated with the fingers,
Arduino Uno and the keyboard. The proposed framework has switches / keypads as
information that is restricted by the other side of the customer. This task changes the
far-flung control standards of the mechanical hand. In this article, the Arduino board
is linked to the information and the yield, ie it controls the entire instrument of the
framework via the code or the program given to the board and plays off the effective
work of the hand prosthesis. It is very helpful in performing everyday exercises and
additionally wastes applications in businesses that use injurious synthetic substances
that can damage human skin.

Figure 5.2
5.2.1 CAD Model:

Figure 5.2.1(CAD Model)

5.3 Testing Phase
OFFLINE
Noisy EMG signal with all movements hidden

Epoch of hand close movement recovered by NMF

Hand open
Subjects Variance Skewness Kurto

Subject 1 93.3 92.3 93.3

Subject 2 98.9 83.9 90.9
Subject 3 93.5 67.3 97.9
Subject 4 98.9 88.6 95.9
Subject 5 94.5 95.8 100
 Subject 6 95.1 87.3 95.2
Subject 7 98.2 98.4 100
Subject 8 97.5 90.4 91.2
Subject 9 89.8 95.6 99.8
Average 95.31 89.84 96.29

Hand Close
Subjects Variance Skewness Kurto

Subject 1 90.2 94.8 86.6

Subject 2 94.6 94.5 76.5

Subject 3 96.2 93.8 89
Subject 4 95.4 97.4 93.7
Subject 5 92.5 97.3 97.3
Subject 6 90.8 87.9 98.9
Subject 7 85.4 69 87.3
Subject 8 96.2 89.6 70.6
Subject 9 99.8 99.8 99.6
Average 93.08 90.62 87.91

5.3.1 EMG Signal Analysis

As mentioned earlier, EMG signal procurement was subject to a cheap Myoware EEG sensor.
The sensor offers the possibility to collect rough information or to use the installed sieving.
For this project, second studies used the conventional separation given by the sensor.

An aggregate of 4 sensors was used. A model of a bracelet was made and can be seen in the
photo below.

Four neurosensors were used to decide whether each individual finger could be separated.
Basically one sensor was used for thumb, record and little finger. A fourth sensor was used
with the middle and ring fingers grinded. We found that the different fingers can be separated
with your Neuro Senser.

Chapter 6
6.1 Experimental Results:
After the playing field was poured, all parts of the device were gathered, measured and the
hand prepared for the test. The general mass of the hand is 230 g. Figure 3.15 - A Completely
Collected Final Form of the Prosthesis The final form of the prosthesis was tried under
laboratory conditions. Some grips were performed on objects with different structures and
loads in order to understand the capabilities of a hand. A small selection of items can be
treated with a prosthesis. It is possible to move something with your hand, do basic activities
like drinking water from a glass, or just play with toys without any experience of using a
prosthetic device. With a little preparation, it might well be possible to perform more
unpredictable tasks like riding a bike or definitely composing.

Regardless of the wellness, durability, and versatility benefits of sensitive joints, they
experience the negative effects of a typical problem. That is, the unwanted deflections and
curvatures in the joints in the direction of the path opposite the ideal flexion hub. The
adaptability of the joints makes them adaptable in a variety of ways.
Figure 6.1
Figure 6.2
 Figure 6.3

7 Future Work:
 Modeling the current project to be purposeful in the wake of the aim it was started
for in order to accomplish the aim a better constructed 3D arm is the first objective
which is light weight compact and applicable to be applied on the subject along with
that a mini computer or a mobile device to decode the signal in a remote usage is
very important where is servo motors could be replaced by gear motors which use
segments instead of a pully would reduce the noise of pulleys making the hand to be
used in daily life.

CONCLUSION

In this study, a prosthetic hand was created using a four-bar linkage system. The GUI for
observing and setting the hand framework was the machine language. Five hold designs that
were created are Open - Close, Loop, Harmony, Pointing, and Dynamic Thumb. In view of
the test results using single-channel surface EMG signal information, the proposed
myoelectric hand can steadily handle objects such as chamber, tennis ball, tweezers, cell
phones, and marker pens.

Project Proposal

Literature Review/
Study of basic
components

Design & development

using Software and
Arduino

Testing Phase

Problem Solving/ Error

Hardware
Implementation

Final Thesis Report

Chapter 8

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