DEVELOPMENT OF PROSTHETIC ARM FOR

PARALYTIC PATIENTS


Project Report


Submitted in partial fulfillment of the requirements for the award of the degree of

Bachelor of Technology
in
Production & Mechanical Engineering


by

CHANDRA MONDAL (B070544PE)
EMAD MOKHTAR AHMED (B070619PE)
MUKUL AGRAWAL (B070354PE)
PRAMOD KUMAR RANJAN (B070345ME)
SOVIT KUMAR (B070430PE)







Department of Mechanical Engineering
NATIONAL INSTITUTE OF TECHNOLOGY CALICUT
April 2011


CERTIFICATE

This is to certify that the report entitled DEVELOPMENT OF PROSTHETIC
ARM FOR PARALYTIC PATIENTS is a bonafide record of the Major Project done
by CHANDRA MONDAL (B070544PE), EMAD MOKHTAR AHMED
(B070619PE), MUKUL AGRAWAL (B070354PE), PRAMOD KUMAR RANJAN
(B070345ME) and SOVIT KUMAR (B070430PE) under our supervision, in partial
fulfillment of the requirements for the award of the degree of Bachelor of Technology in
Production Engineering from National Institute of Technology Calicut, and this work
has not been submitted elsewhere for the award of a degree.


Dr. P.K. Rajendrakumar
(Guide)
Professor
Dept. of Mechanical Engineering









Place : NIT Calicut Professor & Head
Date: 08 April 2011 Dept. of Mechanical Engineering








ACKNOWLEDGEMENT

We take this opportunity with much pleasure to thank all the people who have
helped us through the course of our journey towards producing this project. We sincerely
thank our project guides, Dr. P.K. Rajendrakumar (Professor) and Dr. Santhakumar
Mohan (Assistant Professor), for their guidance, help and motivation. Apart from the
subject of our research, we learnt a lot from them, which we are sure will be useful in
different stages of our lives.
We would also like to thank Mr. Prajith and other staff members of Electronics
Lab for their help in designing the controller circuit of the fabricated model.







Chandra Mondal
Emad Mokhtar Ahmed
Mukul Agrawal
Pramod Kumar Ranjan
Sovit Kumar






ABSTRACT

A large number of people suffer from strokes leading to various disabilities. One
of the most common among them is paralysis of the upper arm. Since therapy for this
disability is expensive, patients are finding rehabilitation difficult to afford and manage.

This project is to propose the development of a mechanical linkage with proper
actuators and controller for the patient to use for stroke rehabilitation to aid proper arm
movement. The device is to be electrically actuated by the patient by giving appropriate
signal to the controller. After proper design considerations and keeping in mind the
comfort and ease of the patient, the device has been developed.





i
CONTENTS

List of Abbreviations ii
List of Symbols iii
List of Figures iv
List of Tables v
1 Introduction 1
2 Human Arm Analysis 2
2.1 One Degree of Freedom Analysis 2
2.1.1 Manual Calculations 2
2.1.2 PRO-E Simulation 5
2.2 Prototype Model 6
2.2.1 Mechanical Linkage 6
2.2.2 Relay Circuit 7
2.3 Experimentation 9
2.3.1 Analysis at The Extreme Load 10
2.3.2 Design of Arm Rest Device 10
2.4 Proposed Modification and Analysis 11
2.4.1 Analysis of Arm Rest (static loading) 11
2.4.2 Analysis of Arm Rest (dynamic loading) 15
2.5 Two Degree of Freedom Analysis 17
2.5.1 Modeling using Ansys 17
2.5.2 Torque and Power Calculations 19
3 Fabrication 22
3.1 Surveys 22
3.2 Final Mechanical Model 22
3.2.1 PRO-E Model 24
4 Controlling Device 27
5 Bill of Materials 29
5.1 For the Robotic Arm 29
5.2 For Electronic Controller 29
6 Cost Analysis 30
7 Conclusions 31
8 Future Work 32
References 33
ii

LIST OF ABBREVIATIONS

COM Centre Of Mass
DC Direct Current
PVC Polyvinyl Chloride
IC Integrated Circuit
SW Switch



























iii


LIST OF SYMBOLS

Density
m Mass
v Volume
N Speed (rpm)
T Torque (N-m)
P Power (W)
Bending Stress
M Moment
Shear Stress
A Area
I Current (A)
I Moment of Inertia
Angular Acceleration



iv
LIST OF FIGURES

2.1 Line Diagram for Human Arm 3
2.2 PRO-E model of Human Arm 5
2.3 Line Diagram of Mechanical Linkage 6
2.4 Relay Circuit Diagram 7
2.5 Fabricated Setup 8
2.6 Line Diagram for Static Loading 11
2.7 Line Diagram for 45
o
Inclination 13
2.8 Meshed Model 1 16
2.9 Stress Analysis 1 17
2.10 Meshed Model 2 17
2.11 Stress Analysis 2 18
3.1 Support for the Forearm 23
3.2 Support for the Upper arm 24
3.3 Support for the system on human abdominal region 24
3.4 Final Assembly 25
4.1 Circuit Diagram 26
v
LIST OF TABLES

2.1 Human Arm Data 4
2.2 Experimental Observations 9
2.3 Components of Arm Rest Device 10
5.1 Bill of Materials for the Robotic Arm 28
5.2 Bill of Materials for Electronic Controller 28
6.1 Cost Analysis 29


1

CHAPTER 1
INTRODUCTION

Stroke is a leading cause of disability, leaving people with limited ability to
perform activities of daily living. The degree of dysfunction arising from stroke is
variable. Providing stroke survivors with the treatment that they need to regain motor
function is a tremendous challenge for physiotherapists.

Robotic technology is emerging as a tool to assist therapists with assessing
stroke patients and providing the necessary therapy. A major problem with current
robotic devices is that upper limb mobility is poorly replicated.

Through this project, an arm rest will be developed which will be belted on
the arm of a paralytic patient. This would facilitate the user with paralytic arm to
perform a 2 degree of freedom motion with his arm viz. Swinging of the arm part
from wrist to the elbow and swinging of the arm part from elbow to the shoulder in
their respective planes.

Here, emphasis will be given to make the system portable by incorporating
minimum weights of the links and actuators and is to be compatible with the arm of
the patient. The device will be attached to the patients body itself giving full
portability.

The system will be electrically actuated using two dc motors, one for each arm
part. Each motor will have a separate drive board and microcontroller which will ease
the control of the arm movement by the user. The patient will be required to give
signal to the actuators as per his/her requirement.


2

CHAPTER 2
HUMAN ARM ANALYSIS

2.1 ONE DEGREE OF FREEDOM ANALYSIS

A set of four Human Arms are analysed for two things:
Weight of respective arms
Location of Centre of Mass of respective arms

For this there are two methods:
Analytically using manual calculations
Using PRO-E

2.1.1 MANUAL CALCULATIONS

The following assumptions are made:
The cross section of hand is assumed to be circular
The weight of the palm is neglected
Average density of human arm=1140kg/m3
Trapezoidal Distribution of arm weight

The dimensions of four Human Arms are taken which includes:
Arm circumference at the wrist
Arm circumference at the Elbow
Length of arm till Elbow

3
Fig.2.1 Line Diagram for Human Arm

For calculating weight and centre of mass, we use the following formulae:
Volume of a Frustum = [r
2
2
h
2
r
1
2
h
1
]/3 (1)
C.O.M for a continues mass=
( p n
2
x) / 4.dx
h
0
( p n
2
) / 4.dx)
h
0
(2)
Observations:
2r
1
= 14.5 cm circumference at wrist
r
1
= 2.307cm
2r
2
= 22.5cm circumference at elbow
r
2
= 3.58cm
h = h
2
h
1
= 20cm
Calculations:
Calculation of the weight
r
1
/r
2
= h
1
/h
2
from similar triangle
(r
2
-r
1
)/r
1
= (h
2
-h
1
)/h
1

4
h
1
= 36.24cm
Volume = [r
2
2
h
2
r
1
2
h
1
]/3 (3)
= 550.87cm
3

Density = 1140kg/m
3
Thus, mass = Density Volume
= 0.628kg
Calculation of C.O.M
r / r
1
= (x+h
1
)/h
1
from similar triangle
r = (x+h
1
) r
1
/ h
1
C.O.M =
x.dm
h
0
dm
h
0
where, dm = .dv
C.O.M =
( p n
2
x) / 4.dx
h
0
( p n
2
) / 4.dx)
h
0

= 9.6cm
Human arm data and results obtained of various age groups:
Table 2.1 Human Arm Data
SL
NO
. .


Wrist
circumference
(cm)
Elbow
circumference
(cm)
Length till
Elbow(cm)
Arm
Weig
ht
(kg)
Location of
Centre of
Mass using
analytic
calculations
from Elbow
Joint
(cm)
Location
of Centre
of Mass
using
PRO-E
calculatio
n from
Elbow
Joint(cm)
1 17 26.5 28 1.217 12 13.35
2 14.5 22.5 20 0.628 9.6 11.18
3 15.5 23 24.5 0.832 11.1 12.72
5
4 12.4 20.3 18 0.445 7.58 9.1
5 11.5 19 17 0.366 7.13 8.8

2.1.2 PRO-E Simulation

Following are the assumptions and added features:
- cross section of hand taken to be elliptical
- weight of the palm is also considered
Dimensions:
At wrist:
Length of major axis = 4.3cm
Length of minor axis = 2.9cm
At elbow:
Length of major axis = 6.9cm
Length of minor axis = 5.1cm
Total length of arm = 20cm
Length of palm + middle finger = 16cm
Length of ring finger = 6cm
Length of little finger = 4.9cm
Length of index finger = 6.4cm
Length of thumb = 5.5cm
Width of wrist (excluding thumb) = 6.2cm
Using these dimensions, the following PRO-E model was made.
6

Fig. 2.2 PRO-E model of Human Arm
Results:
Assuming density = 1140kg/m
3

We found out the following:
Volume = 400cm
3

Density = 1140kg/m
3

Mass = 513gm
C.O.M (from elbow) = 11.8cm
The results thus obtained are used in model fabrication and to carry out
experimentation on the fabricated model.

2.2 PROTOTYPE MODEL

2.2.1 MECHANICAL LINKAGE

Fig. 2.3 Line Diagram of Mechanical Linkage
7

The material used for fabrication is mild steel. Rod 1 was fixed on the base.
Rod 1 and rod 2 were connected by bolt and screw.
Rod 2 and 3 were connected by a rivet joint.
On the base a rod was fixed onto which motor was placed.
The motor output shaft was connected to the rivet joint
Motor Specification:
DC motor
Voltage rating = 12V
Speed = 15rpm
Power = 12W

2.2.2 RELAY CIRCUIT

For rotation of arm rest in two opposite directions we made a relay circuit with
following components:
Two relays
Two push buttons
One switch board
Wires









8
Relay Circuit Diagram:

Fig 2.4 Relay Circuit Diagram
Fabricated Setup:



Fig. 2.5 Fabricated Setup





9
2.3 EXPERIMENTATION

The fabricated model is to be analysed for its compatibility and feasibility for
practical situations according to the loading due to living Human Arms whose data
was calculated initially.

In order to apply the loading similar to a Human Arm, the weight of the
Human arm is assumed to be acting at its centre of mass.
Knowing the centre of mass of each set of Human Arm, appropriate holes are drilled
at certain positions in the link according to the position of centre of mass, keeping the
pivot point at the elbow.

Weights corresponding to the human arm weights are hanged using wires
through the respective holes to apply loading to the link so as to analyse the practical
situation.

The table below shows the various experimental observations and results:

Table 2.2 Experimental Observations
SL NO. Arm Weight
added(kg)
Location of
Weight application
from the Motor
Axis(cm)
Whether possible to
be lifted by the
model
1 1.217 12 No
2 0.628 9.6 Yes
3 0.832 11.1 No
4 0.445 7.58 Yes
5 0.366 7.13 Yes




10
2.3.1 ANALYSIS AT THE EXTREME LOAD

The human arm with maximum load which the model was able to lift up is analysed
for the motor characteristics as shown:
Weight of the arm rest = 180gm
Weights added = 500gm
A voltage supply of 12V was given to the motor.
Power required to lift this arm = 2NT/60 (4)
Where , N = 15rpm
T = torque due to arm rest + torque due to weights
= 0.189.810.1 + 0.59.810.118
= 0.755N-m
Thus, power required, P = 1.185W

2.3.2 DESIGN OF ARM REST DEVICE

Components:

Table 2.3 Components of Arm Rest Device
SL NO. COMPONENT Quantity DIMENSION(mm) MATERIAL
1 Base strip(long) 2 280235 Mild Steel
2 Base strip(short) 2 160235 Mild Steel
3 Supporting beam
for links
1 350374 Mild Steel
4 Link for shoulder
arm
1 135235 Mild Steel
5 Link for elbow
arm
1 200235 Mild Steel
6 Supporting beam
for motor
1 325234 Mild Steel
11
7 Motor mounting
bracket
1 65205 Mild Steel
8 Nut & bolt 1 M-10 Mild Steel
9 Motor 1
34,75(length)
-
10 Motor Shaft 1
14,30(length)
-
11 Motor Clamping 1
34



Depending upon the device compatibility results as obtained from the experiments
performed, following modifications can be done:
Replacing the present Motor with a high Torque Motor.
Replacing the link materials by light weight material (Aluminium).
2.4 PROPOSED MODIFICATION AND ANALYSIS

The current setup is able to lift up a weight of 513 gm.
Weight of the fixture (cast iron plate) is 180gm.
So, the maximum load which the current setup is able to lift up is used to study
the static and Dynamic loading analysis of an aluminium plate of the same
dimensions. The idea behind doing this analysis is to reduce the link fixture weight so
that the weight supporting capacity of the device can be increased eventually as the
net weight that the motor is able to lift is constant.
The assumptions and dimensions are:
1. Yield Stress for Aluminium(A-6)=161.8MPa
2. Density of Aluminium=2888kg/m
3

3. Length of Aluminium Link=20cm
4. Width of Aluminium Link =23mm
5. Thickness of Aluminium Link=5mm
2.4.1 ANALYSIS OF ARM REST (STATIC LOADING)

We opted for aluminium arm rest.
Youngs modulus, E = 160GPa
Length, l = 20cm
12
Width, b = 2.3cm
Thickness, t = 0.5cm


Fig. 2.6 Line Diagram for Static Loading

Weight is assumed to be acting on the centre of mass obtained from the PRO-E
model.
Location of Centre of mass of the link =10cm
Location of Centre of mass of the arm, a =11.8cm
Mass of the link =Density of aluminium Volume of the link
=2880 0.2 0.023 0.005
=0.066 kg
Mass of the Arm= 0.513kg
When the Arm is in horizontal position
Net Moment =Moment due to weight of the Arm+ Moment due to the self weight
= mg a + w (l/2) (5)
= 0.513 9.81 0.118 + .066 9.81 0.1
=0 .652 N-m
Bending stress, = Mc/I (6)
Where , c = b/2 (7)
13
I = tb
3
/12 (8)
Thus we get, = 1.48MPa
Shear Stress, =W/A (9)
= (0.513+0.066) 9.81/(0.023 0.005)
=49391.22 Pa
Using Maximum Shear Stress Theory,
(10)
Here,

x
=1.48 MPa

xy
=0.049 MPa
Substituting in the above formula, we get
=0, 2.96 MPa , which is less than Yield stress of Al
(Yield stress (tension) for Aluminium (A-6) =161.8MPa)
Thus, the link will be able to hold the arm safely.

Calculation when the rod is inclined at an angle of 45
o
to horizontal:


Fig. 2.7 Line Diagram for 45
o
Inclination
14

Now apart from the bending stress there will be normal stress acting at the joint.
Now the moment acting = 0.652 cos45
o

= 0.461N-m
Bending stress, = 4.81MPa
Normal stress = P/A
Where, P = normal force
A = area of cross section
P = Component of the two force acting along the direction of arm
= 5.03 + 0.588 cos45
o

= 18.185 kPa (which is very small compared to the bending stress and can
be neglected)
Shear Stress, =W/A

xy
=0.049 MPa

Using Maximum Shear Stress Theory,

Substituting in the above formula, we get
=0, 2.09 MPa , which is again less than Yield stress of Aluminium
(Yield stress (tension) for Aluminium (A-6) =161.8MPa)
Hence we can see that the maximum stress is obtained at the horizontal position.


15
2.4.2 ANALYSIS OF ARM REST (DYNAMIC LOADING)

Angular Velocity of Motor, N=15 RPM
Motor Current, I=0.14 Amp
Motor rated voltage ,V=12V
Motor Power, P=VI (11)
=12 0.14
=1.68W
Motor Torque, T=P/(2 3.14 N/60)
T=1.069Nm
Using the relation,
Net Torque, T=I (12)
Where , I is the Moment of Inertia
=Angular Acceleration
I=Ml
2
/3 + ma
2
(13)
M-mass of the link
l=length of the link
m=mass of arm
a=location of centre of mass of the arm from the end
I=0.066 0.2
2
/3 + 0.513 0.118
2

=8.023 10
-3
kg-m
2
= T/I
=133.24 rad/s
2
16
Linear Acceleration a
l
=15.72m/s
2
Force at the centre of mass, F=Ma
l
+ W (14)
=0.57915.72 + 5.68
=14.78 N
Note: The bending moment on the link keeps on changing with the changes in angular
position of the link. So, the maximum bending moment is found out when the arm is
in horizontal position. This is to ensure that the link is able to withstand even when
the maximum bending moment is applied.
Bending Moment, M
b
=F a (15)
=1.74 Nm
Bending stress, = M
b
c/I
Where , c = b/2
I = tb
3
/12
=3.94 MPa , which is again less than Yield stress of Aluminium
(Yield stress (tension) for Aluminium (A-6) =161.8MPa)
The link will be able to hold the arm safely.
Thus, a single degree of freedom prototype model for the motion is fabricated
and experimented to check the closeness of its operation to practical human
requirements.
In order to increase the weight supporting capacity of the device, the cast iron
links can be replaced by aluminium links safely as ensured by failure analysis both in
static and dynamic conditions.
The maximum weight which can be supported by the device is increased by
0.114kg when the cast iron link is replaced by that of aluminium for the same setup.



17
2.5 TWO DEGREE OF FREEDOM ANALYSIS

2.5.1 MODELLING USING ANSYS

A hand was modeled in Pro-e using the standard dimensions. The
polypropylene blocks are attached on the hand. This model was imported in the
ANSYS. The following properties were used for the analysis:
Human arm:
Youngs Modulus = 10.5 GPa
Density = 1100kg/m
3

Polypropylene:
Youngs Modulus = 1300 MPa
Density = 946 kg/m
3

The imported model was meshed and the load of gravity was applied.

Fig. 2.8 Meshed Model 1






18
The following stress pattern was obtained on the block

Fig. 2.9 Stress Analysis 1

Now the analysis is done for the block when the forearm is inclined at an angle of 30
o

to the upperarm. The model is again imported to the Ansys and was meshed as shown

Fig 2.10 Meshed Model 2
19
The load of gravity is applied and the stress pattern obtained is as shown:

Fig 2.11 Stress Analysis 2

2.5.2 TORQUE AND POWER CALCULATIONS

i. Forearm
Mass of forearm (Calculated in previous semester) = 0.628 kg
Center of Gravity of Forearm from the elbow, l = 11.18cm
Static torque required for the Forearm = m g l
= 0.628 9.81 0.1118
= 0.688 Nm
Volume of armrest (PP) = l b h
= 20 5 0.04
= 4 cm
3

Density (PP) = 0.946 g/cm
3

20
Mass (PP) = vol density
= 4 0.946
= 3.78 gm
Torque due to PP = m g l
= 0.00378 9.81 .1
= .037 Nm
Mass of polypropylene (PP) is very les compared to the arm
Total Torque = Torque due to forearm + torque due to Mass of PP
= 0.688 + .037
= 0.725 Nm
Assuming the arm rotates by 90
o
in 5 seconds

Angular Velocity, () = angle /time
= / (2 5)
= 0.157 rad/sec
Power required = T

= 0.725 0.157
= 0.1138 W

ii. For complete Arm
Mass of Motor = 150 gm
Distance of CG of motor from axis of rotation = 24cm
21
Mass of Hand = 1.21 kg
CG of hand (Calculated from Pro-e) = 21.6 cm
Mass of Armrest = volume Density
= (l b h) d
= (44 5 0.04) 0.946
= .008 kg
Since the mass of armrest is very less as compare to other two mass, it may be
neglected.
Thus, total Torque = Torque due to motor mass + Torque due to hand mass
= 0.15 9.81 0.24 + 1.21 9.81 0.216
= 0.353 + 2.564
= 2.917 Nm
Angular velocity, () = .157 rad/sec

Power required = T
= 2.917 .157
= 0.458 W








22


CHAPTER 3
FABRICATION

3.1 SURVEYS

Before moving on to the actual fabrication, two surveys were conducted at
Physiotherapy Centres so as to get an insight of how the rehabilitation is being done
for the paralytic patients. Moreover, information regarding the machinery and
technology presently used is also studied and discussed with the Physiotherapists. The
centres surveyed include:
Calicut Medical College, Calicut
Kasturba Medical College, Manipal

3.2 FINAL MECHANICAL MODEL

A full-fledged 2 DOF device to assist paralytic patients for shoulder and
elbow joint movements is fabricated. The device can be easily wore over the arm and
driven by 2 DC geared motors, one for each joint movement. The device does not
require any addition support as it can be supported on the patients body itself using a
strap wound over the patients abdominal region.
Following are the key parts used in the assembly:
Polypropylene sheets
Steel rivets
DC geared motors
Crossed linked polyethylene foam
Velcrow straps
PVC brackets
23


Polypropylene sheets
Polypropylene sheets of thickness 4mm are used as the main fabrication
material. It is primarily used to serve as the arm rest links (2nos.) and for the support
link for the assembly fixed to the abdominal region of the patient. In addition some
support brackets also use polypropylene sheets.
The benefit of polypropylene over other materials which could be used are:
Polypropylene is normally tough and flexible, especially when copolymerized with
ethylene. This allows polypropylene to be used as an engineering plastic, competing
with materials such as ABS. Polypropylene is reasonably economical, and can be
made translucent when uncolored but is not as readily made transparent
as polystyrene, acrylic, or certain other plastics. It is often opaque or colored using
pigments. Polypropylene has good resistance to fatigue. PP has a melting point that
ranges from 160 to 166 C (320 to 331 F).

Steel Rivets
A large number of rivets have been used in the assembly. The reason for that
is that the entire model is mechanically fixed without using any adhesive.

DC Geared Motors
Two DC Geared Motors are fixed in the model whose shafts are coupled with
the joint axes corresponding to the two link motions. Both motors are high torque
motors weighing 150 gm (approx.) and 10rpm rotation. The motors are rigidly fixed
to the model using PVC brackets and sockets.

Crossed linked polyethylene foam
It is used only in the inner part of the support link of the model in order to
provide a cushioning effect between the device-human body interface and to
minimize discomfort for the patient.
24


Velcrow straps
These are high quality strap bands used for tightly binding the device links to the
human body. Moreover, these are easy to unbind. These are used at four different
locations:
On the support arm for the model to arrest it to the human abdominal part
On the upper link to arrest to the upper arm of the patient
On the lower link to arrest to the lower arm of the patient
On a position at the end of the lower link to arrest to near to the wrist of the
patient.

PVC brackets
A number of PVC sheets are used in order to be bent in the form of brackets
to support the motor on the Polypropylene made links. The motor is first enclosed in a
PVC socket and then supported on the links by the bracket using rivets.

3.2.1 PRO-E MODEL

Support for the forearm:


Fig 3.1 Support for the Forearm
25

Support for the Upperarm:



Fig 3.2 Support for the Upperarm

Support for the system on human abdominal region:


Fig 3.3 Support for the system on human abdominal region
26

Final Assembly:


Fig 3.4 Final Assembly
















27

CHAPTER 4
CONTROLLING DEVICE

System Requirements

Since there the assembly is designed for the two DOF motion, so there are two
DC geared motors to be controlled. The control of each motor includes two basic
tasks viz. controlling the motor speed and controlling the motor direction of rotation.
To do this, a simple methodology is adopted using two switches and a variable
rheostat.

In the fabricated controlling device, there is a provision for varying the speed of
the rotating motors and to change their sense of rotation.

The circuit is made on a DOT board with details as given below:


Fig 4.1 Circuit Diagram
28

The circuit component details and utility are as follows:

IC-555: It is basically a Timer Integrated Circuit. It is 8 legged with a function
to produce Pulse Width Modulation(PWM) waves of equal interval.

IC 7805: IC-555 needs a supply of 5V but we are using a supply of 12V.
Thus, IC-7805 converts this 12V into 5V and is fed to the the required IC. The
maximum voltage range of such an IC is 24V through the pin 5.

IC L293D: It is a DC motor driven Integrated Circuit. The output is taken
across pins 3-6. Pins 2-7 serve as selection pin for the direction.

SW-SPDT: It is the switch used to control the direction of motion of the
motors named as Single Throw Double Throw with one input but two outputs
to control the directions.

SW-ROT-3: It is the switch used to select the driver IC which eventually
helps to select the motor to be driven. It has three positions viz. motor1,
motor2 and neutral.

Variable Resistor Port: The square pulse generated from the Timer IC can be
modified by adjusting the timing of the pulse width. This is achieved using the
Variable Resistor Port to control the speed to the motor.





29

CHAPTER 5
BILL OF MATERIALS

5.1 FOR THE ROBOTIC ARM
Table 5.1 Bill of Materials for the Robotic Arm
Components Quantity
Polypropylene sheet 3
Rivets 8
DC Geared Motors 2
Velcro Straps 4
Cross-Linked Polyethylene Foam 1
PVC Brackets 2

5.2 FOR ELECTRONIC CONTROLLER
Table 4.2 Bill of Materials for Electronic Controller
Components Quantity
IC-L293D 2
IC-555 1
IC-7805 1
Resistance-10K 1
Variable Resistance-10K 1
Capacitance-100 micro-farad 1
Capacitance-10 micro-farad 1
Capacitance-.01 micro-farad 1
Switch-SPDT 1
Switch-ROT-3 1
Variable Resistor Port 1


30


CHAPTER 6
COST ANALYSIS

Table 5 Cost Analysis
Components Cost(Rs)
Robotic Arm Structure 650
DC Geared Motor (2 NOS.) 700
Electronic Circuit Components 475
12-V Battery 450
Total 2275


















31

CHAPTER 7
CONCLUSIONS

A two DOF model for the arm rest to be used by the paralytic patients is successfully
fabricated. A full fledged two DOF device to assist paralytic patients for shoulder and
elbow joint movements is fabricated. The device can be easily worn over the arm and
driven by two DC geared motors, one for each joint movement. The device does not
require any additional support as it can be supported on the patients body itself using
a strap wound over the patients abdominal region. The two motors are controlled by
a common circuit board. In the controller, there are provisions for varying the motor
speeds as per the patients requirements.















32

CHAPTER 8
FUTURE WORK

There is a wide scope of research and development in the development of this
kind of device because of the fact that a number of provisions can be incorporated for
the ease of the user. The device can be made both user friendly and medically apt
owing to the new technological advancement in the medical field.

A few of the possible modifications in the device for improvement are listed
below:
1. The Arm rest material used (polypropylene) can be replaced with other
light weight material with higher strength and durability.
2. The DC geared motors used can be replaced by other light weight and low
noise motors or by Stepper motors to control the discrete movements of
human limb to facilitate better rehabilitation.
3. Harmonic drives can be used instead of geared motors so as to avoid the
possibility of wear-out of the motor gears and to get better torque
conversions.
4. The assembly weight can be further reduced by using joints and rivets
made of plastic instead of steel.
5. The Controlling Device for the assembly can be made more user friendly
with more added features and controlling modes so as to avoid user
fatigue.





33

REFERENCES

[1] Eskiizmirliler, S., Tondu, B., Darlot, C. (2001), Motor control of a limb
segment actuated by artificial muscles, Proceedings of the 23rd Annual
International Conference of the IEEE Engineering in Medicine and Biology
Society, Oct. 25 28 2001, vol. 1, pp. 865 8.
[2] Burgar, C.G., Lum, P.S., Shor, P.C., Van der Loos, H.F.M. (Jan 9 2001),
Development of robots for rehabilitation therapy: The Palo Alto VA/Stanford
experience, (VA Research and Development)
[3] Stephen Joseph Ball, 2008, Novel robotic mechanism on upper limb,
Queenss University, Canada.
[4] Beer,F.P., and E. R. Johnson, Jr., Mechanis of Materials, 2
nd
edition, 2003.
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