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A
Project report on
Advanced Prosthetic Arm Development: Enhancing Mobility and Functionality
(B.Tech. Project Phase 1 Report)

Submitted to North Maharashtra University, Jalgaon in Partial Fulfilment of the

Requirements for the Degree of BACHELOR OF TECHNOLOGY in
Mechanical Engineering.

By

Sopan Pawar (2001030)

Mahesh Wankhade (2001046)
Araju Khobragade (2102101)
Mulchand Rathod (2001034)
Prem Narwade (2001032)

Guide
Prof. M. S. Harne
(Asst Prof. in Mechanical Eng. Department)

DEPARTMENT OF
MECHANICAL ENGINEERING
GOVERNMENT COLLEGE OF ENGINEERING, JALGAON 425001
(An Autonomous Institute of Govt. of Maharashtra)

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GOVERNMENT COLLEGE OF ENGINEERING, JALGAON,

425001
Department Of Mechanical Engineering

CERTIFICATE

This is to certify that the project phase 1 report entitled, “Advanced

Prosthetic Arm Development: Enhancing Mobility and Functionality”, which is
being submitted herewith for the award of B.Tech., is the result of the work completed
by
Sopan Pawar (2001030)
Araju Khobragade (2102101)
Mulchand Rathod (2001034)
Mahesh Wankhade (2001046)
Prem Narwade (2001032)
under my supervision and guidance within the four walls of the institute and the same
has not been submitted elsewhere for the award of any degree.

Prof. M. S. Harne Dr. M. K. SONPIMPLE

(Asst. Prof. in Mechanical Department) (Head of Mechanical Department)
Guide

Principal Examiner

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DECLARATION

We hereby declare that the project phase 1 entitled, “Advanced Prosthetic

Arm Development: Enhancing Mobility and Functionality
” Was carried out and written by us under the guidance of Prof. M. S. Harne
Assistant Professor Department of Mechanical Engineering, Govt. College of
Engineering, Jalgaon. This work has not been previously formed the basis for the award
of any degree or diploma or certificate nor has been submitted elsewhere for the award
of any degree/ diploma.

Place: Jalgaon
DATE:

Sopan Pawar (2001030)

Mahesh Wankhade (2001046)

Araju Khobragade (2102101)

Mulchand Rathod (2001034)

Prem Narwade (2001032)

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ACKNOWLEDGEMENT

Success is never achieved single-handed. Apart from our humble efforts, this seminar
report on “Advanced Prosthetic Arm Development: Enhancing Mobility and
Functionality” is outcome of the help, co- operation and guidance from various comers. We
would like to add a few heartfelt words for the people who were part of this seminar report in
numerous ways and the people who gave unending support right from the stage of seminar
ideas. It gives us great pleasure in presenting the report of our project.

We took this opportunity to express our sense of gratitude to our guide Mrs. M. S.
Harne, Associate Prof in Mechanical Engineering Department, Government college of
Engineering, Jalgaon for his valuable guidance and inspiration. In spite of hisbusy schedules,
he devoted himself and took keen and personal interest in giving us constant encouragement
and timely suggestions

Also, we would like to thank our honorable Principal Dr. S. S. Gajre and honorable
Head of Department Dr. M. K. Sonpimple Mechanical Engineering Department for giving
opportunity to present this project report.

Finally, we took the opportunity to convey the sincere thanks to all my friends and
staff members those who contributed to let us bring out our project report as it appears. Last
but not least the backbone of our success and confidence lies solely on the blessing of our
Parents. With deep reverences!

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Abstract

The field of prosthetics has witnessed remarkable advancements in recent years, with
a focus on improving the quality of life for individuals with limb loss. This major project
endeavors to contribute to this progress by developing an advanced prosthetic arm that not
only replicates natural limb movements but also enhances mobility and functionality for
users. The integration of cutting-edge technologies, biomechanics, and neurofeedback
mechanisms aims to provide a more intuitive and responsive prosthetic experience.

The project begins with an in-depth analysis of the current challenges faced by
prosthetic users, including limited range of motion, lack of sensory feedback, and difficulties
in performing delicate tasks. By addressing these issues, our goal is to bridge the gap between
natural and artificial limbs, enabling users to regain a sense of control and dexterity in their
daily lives.

The prosthetic arm design incorporates state-of-the-art materials, such as lightweight

and durable alloys, to ensure both strength and agility. Advanced sensor technologies,
including myoelectric sensors and accelerometers, are integrated to enhance the precision and
responsiveness of the prosthetic arm. These sensors enable users to control the device with
natural muscle movements, creating a more intuitive and seamless interface between the user
and the prosthesis.

To further enhance functionality, the project incorporates machine learning algorithms

that adapt to the user's unique movement patterns over time. This adaptability ensures that the
prosthetic arm becomes an extension of the user, learning and evolving with them to provide
a personalized and efficient experience. The inclusion of artificial intelligence also allows for
predictive modeling, anticipating the user's intended actions and adjusting the prosthetic arm's
behavior accordingly.

One of the key innovations of this project is the integration of neurofeedback

mechanisms to provide users with a sense of touch and proprioception. By connecting the
prosthetic arm to the user's nervous system, feedback signals are translated into tactile
sensations, allowing users to perceive pressure, temperature, and texture. This breakthrough
technology not only enhances the user's ability to interact with their environment but also
improves their overall sense of body awareness and coordination.

The project emphasizes user-centric design through continuous collaboration with

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amputees and healthcare professionals. User feedback and real-world testing play a crucial
role in refining the prosthetic arm's design and functionality, ensuring that it meets the diverse
needs of individuals with limb loss.

In conclusion, the Advanced Prosthetic Arm Development project aims to

revolutionize the field of prosthetics by creating a sophisticated and user-friendly device that
not only mimics natural limb movements but also enhances mobility and functionality.
Through the integration of advanced materials, sensor technologies, machine learning, and
neurofeedback mechanisms, this project seeks to provide a transformative prosthetic
experience, ultimately empowering individuals with limb loss to lead more independent and
fulfilling lives.

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CONTENTS

Chapter No. Title Page No.

Certificate 2

Declaration 3

Acknowledgement 4

Abstract 5

List of figures 8

1 Introduction 9

1.1 Objectives 10

1.2 Recognition of need 11

2 Literature Survey 12

2.1 Overview 12

2.2 Anthropomorphic prosthetic 15

2.3 Types of Prosthetic Hands 16

3 Case study 19

3.1 Literature gap 20

4 System development 21

4.1 Design Planning 22

5 Progress Status 25

6 Cost Estimation 26

7 Conclusion 27

8 Reference 27

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List of figures

Fig No. Figure Page No.

1 Myoelectric Prosthesis Arm 9

2 Hand Mechanical with Inner Glove 12

3 Cosmetic Glove 13

4 Hook Voluntary Opening 14

5 Anthropomorphic Prosthetic 16

6 Mechanically Actuated Prosthetic Arm 16

7 Myoelectric Prosthetic Arm 17

8 Implanted Myoelectric Prosthetic Arm 18

9 Human muscle 20

10 EMG measurement signal 20

11 EMG measurement system 20

12 Myoware Muscle sensor 21

13 Setup of Electromyography 23

14 Arduino Myoware sensor Schematics 24

15 Result of Electromyography 25

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Introduction

The evolution of prosthetics has been a testament to the relentless pursuit of enhancing
the lives of individuals who have experienced limb loss. In this era of technological
innovation, the field of prosthetic development stands at the forefront of creating solutions
that not only restore functionality but also strive to redefine the boundaries of mobility and
user experience. This major project, titled "Advanced Prosthetic Arm Development:
Enhancing Mobility and Functionality," embarks on a journey to push these boundaries
further, aiming to create a prosthetic arm that seamlessly integrates with the human body,
providing users with unparalleled control, dexterity, and a heightened sense of autonomy.

Fig.1 Myoelectric Prosthesis Arm

As the demand for more advanced prosthetic solutions grows, so do the challenges
faced by amputees. Traditional prosthetic devices, while providing a degree of functionality,
often fall short in replicating the intricate movements and sensations of natural limbs.
Individuals with limb loss encounter limitations in their range of motion, difficulty
performing delicate tasks, and a lack of sensory feedback, which collectively impact their
overall quality of life. Recognizing these challenges, our project sets out to bridge the gap
between conventional prosthetics and the complexity of natural limb function.

The foundation of this major project lies in a multidisciplinary approach,

amalgamating principles from biomechanics, materials science, robotics, machine learning,
and neuroscience. By drawing from these diverse fields, we aim to create a prosthetic arm
that not only mirrors the intricacies of natural movement but also evolves with the user,
adapting to their unique needs and preferences over time.

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The project begins with a comprehensive analysis of existing prosthetic technologies,

identifying their strengths and limitations. By understanding the current landscape, we lay the
groundwork for innovation, seeking to overcome challenges and introduce novel solutions
that redefine the standards of prosthetic design. The development process involves the
collaboration of engineers, neuroscientists, materials specialists, and, most importantly,
amputees themselves, ensuring that the final product is not just technologically advanced but
also user-centric.

Central to our approach is the utilization of cutting-edge materials, such as lightweight

and durable alloys, to construct a prosthetic arm that balances strength with agility. The
integration of advanced sensor technologies, including myoelectric sensors and
accelerometers, aims to provide users with intuitive control over their prosthetic, enabling
natural and responsive movements. The incorporation of machine learning algorithms ensures
adaptability, allowing the prosthetic arm to learn and anticipate the user's intentions,
ultimately enhancing user-device synchronization.

A groundbreaking aspect of our project is the integration of neurofeedback

mechanisms, connecting the prosthetic arm directly to the user's nervous system. This
innovation aims to restore a sense of touch and proprioception, enabling users to feel and
interact with their environment more naturally. By providing tactile feedback in response to
the user's actions, our prosthetic arm strives to enhance the user's overall sensory experience.

In conclusion, the Advanced Prosthetic Arm Development project seeks to redefine

the landscape of prosthetics by not only addressing the functional aspects of limb replacement
but also prioritizing the user's experience and sense of empowerment. By fusing state-of-the-
art technologies with user-centric design, our goal is to contribute to the creation of a
prosthetic arm that not only restores mobility but also enhances the lives of individuals with
limb loss, allowing them to embrace a future where limitations are minimized, and
possibilities are boundless.

Objectives

1. Create an Advanced Prosthetic Arm: The primary objective is to design and develop a
prosthetic arm that surpasses current technological standards, incorporating cutting-edge
advancements in materials, sensors, and robotics.

2. Enhance Range of Motion: Improve the prosthetic arm's range of motion to closely mimic
natural limb movements, allowing users to perform a broader array of daily activities.

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3. Lightweight and Durable Construction: Utilize state-of-the-art materials to construct a

prosthetic arm that is both lightweight for user comfort and durable for long-term use.

4. Contribution to Research: Share findings and insights with the scientific and medical
communities to contribute to ongoing research in the field of prosthetics and enhance
collective knowledge.

Recognition of Need:

The recognition of the aforementioned challenges propels the pressing need for the
development of an advanced prosthetic arm that goes beyond mere functional replacement. It
entails the creation of a transformative device that not only addresses the physical limitations
but also prioritizes the emotional well-being and lifestyle aspirations of individuals with limb
loss.

1. Improved Quality of Life: Recognizing the importance of sensory feedback, an advanced

prosthetic arm should aim to enhance the user's overall quality of life. The restoration of
tactile sensations and proprioception facilitates a more natural and fulfilling interaction with
the world.

2. Enhanced Professional and Personal Opportunities: The development of a prosthetic

arm with superior functionality addresses the need for users to engage in professional tasks
and personal activities that demand precision and fine motor skills. This, in turn, opens up
new opportunities and avenues for personal and professional growth.

3. Reduced Physical Strain: An advanced prosthetic arm that prioritizes lightweight and
ergonomic design addresses the need for reduced physical strain on users. This contributes to
extended wearability, allowing individuals to incorporate the prosthetic arm seamlessly into
their daily routines without excessive fatigue.

5. Adaptive Technology: Recognizing the dynamic nature of users' needs, an advanced

prosthetic arm should feature adaptive technology. Machine learning algorithms that enable
the prosthetic arm to learn and evolve with the user's preferences over time ensure a
personalized and evolving solution.

In conclusion, the identification of critical problems in existing prosthetic technology

and the recognition of the profound need for innovation underscore the significance of the
major project: Advanced Prosthetic Arm Development. By addressing these challenges and
prioritizing the diverse needs of users, this project aspires to contribute to a paradigm shift in

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prosthetic design, enhancing mobility, functionality, and the overall quality of life for
individuals with limb loss.

LITERATURE REVIEW

Overview of Prosthetics

A limb prosthesis is an artificial limb that replaces a missing body part, usually
because it has been amputated. In the India, about 1 in 200 people are currently living with
the loss of a limb, and about 500 amputations are done each day.

Various Organization making prosthetics

 ALIMCO

Artificial Limbs Manufacturing Corporation of India (ALIMCO) is a Schedule ‘C’

Miniratna Category II Central Public Sector Enterprise

Products:

ALIMCO manufactures a complete range of prefabricated components that make

different types of devices for upper limb prosthetic fittings.

Kits marketed by ALIMCO, for fitments at following levels of amputation are :

1. BELOW ELBOW

2. ABOVE ELBOW

These kits are marketed in two different sizes suitable for "child" and "adult" patients.

a) Hand Mechanical with Inner Glove

Fig2. Hand Mechanical with Inner Glove

 Voluntary opening action of thumb, index finger and middle finger operated against
spiral spring force.
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 High strength aluminium alloy mechanism covered by soft PVC Inner Glove.

 Available in two sizes; small and large for child & adult respectively.

b) Cosmetic Glove

Fig3. Cosmetic Glove

 Marketed in two sizes to suit mechanical hand.

 Enhances aesthetic appearance of inner glove - mechanical hand assembly when

stretched over it.

 Available in three different shades to match patient's skin colour for better
psychological satisfaction & cosmesis.

c) Hook Voluntary Opening (Lined)

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Fig 4. Hook Voluntary Opening

 High Grade, corrosion resistant stainless steel or

 Brass casting.

 Rubber bands also marketed as spares.

 Available in one size suitable for adult

 Jaipur Foot

Bhagwan Mahaveer Viklang Sahayata Samiti (BMVSS) is the world’s largest

organization dedicated to the rehabilitation of disabled persons. It has provided over 2 million
artificial limbs, calipers, and other aids and appliances, totally free of charge, to disabled
people in India and 27 other countries. BMVSS is a best charity for disability. It is a highly
respected organization that has made a significant impact on the lives of disabled people
around the world. It is a valuable resource for anyone seeking information about disability or
services for people with disabilities.

 Narayan Artificial Limb Distribution

 Mahavir Seva Sadan, Kolkata

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 Mukti M. S. Dadha foundation

The type of mechanical designs and performance specifications of

anthropomorphic prosthetic

Vicent Hand
Vincent systems
350-500g
Dof 6
Motor maxon1017

iLimb
Touch bionics
450-615g
Dof 6
Motor maxon Re10

iLimb Pulse
Touch bionics
460-465g
Dof 6
Motor maxon Re10

Bebionic hand V2
RSL Steeper
495-539g
Dof 6
Motor custom linear drive

Michelangelo hand

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Otto bock
420g
Dof 6
Motor maxon EC45

Types of Prosthetic Hands:

Prosthetic hands play a pivotal role in restoring functionality and enhancing the
quality of life for individuals with limb loss. Diverse types of prosthetic hands cater to specific
needs, ranging from body-powered options to advanced myoelectric and electrically powered
alternatives, as well as passive and hybrid designs. There are an estimated 30 million people
needing prosthetic devices with a shortage of 40,000 prosthetic devices in developing
countries. Prosthetic arms today are expensive, with costs of Rs.50,000 for a purely cosmetic
arm, up to Rs.8,00,000 for a functional mechanical prosthetic arm that ends in a split hook,
and up to Rs.16,00,000 to Rs.85,00,000 or more for an advanced myoelectric arm controlled
by muscle movements. High cost, poor design, and technology has also led to a shortage in
trainees for training which can often take 3 or more months.
Body-powered Prosthetic Hands/Body-Powered Mechanical Control:
Body-powered prosthetic hands operate through harness systems, utilizing cables and
body movements to control hand functions. Known for reliability and simplicity, they are
often cost-effective and ideal for individuals engaged in various activities. However, their
manual control may demand increased physical effort.

Fig. 6 Mechanically Actuated Prosthetic Arm

Body-powered prostheses are currently the most used functional artificial arm due to
their simplicity. A body-powered prosthetic arm is held in place by suction or by a strap
system that utilizes your shoulders. A system with a cable and harness are the main way of
controlling the device.
There are two main types of body-powered hand prostheses:
• Voluntary Open: opens the hand when applying tension to the cable.
• Voluntary Close: closes the hand when applying tension to the cable.
Barriers/Current Problems:

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• Cost: ~Rs. 2,50,000

• Rejection rate 16–58% (often very uncomfortable)
• Restrict the range of movement of arm.
• Difficult to finely control grasp and grip
Myoelectric Prosthetic Hands:
Myoelectric prosthetic hands rely on electromyography (EMG) signals
generated by muscle contractions for control. Offering intuitive and precise
movements, they enhance dexterity and functionality. These hands are suitable for
various activities, providing users with a more natural and responsive experience.
A. Externally Myoelectric Sensors:

Fig. 7 Myoelectric Prosthetic Arm

Myoelectric prostheses do not require a harness and are controlled by nerves and
electrical impulses from the wearer’s residual limb. When muscles are moved, small electrical
fields are generated around them, which can be measured by electrodes. Sensors or electrodes
in the prosthetic socket detect your muscle contractions and send commands to operate the
high performance, battery-operated prosthetic motors. They often use two electrode sites to
sense muscle contractions from two major muscle groups.
Barriers/Current Problems:
• Cost: ~Rs. 85,00,000 (expensive)
• Batteries need to be recharged often.
• Lengthy training period to adapt.
• Difficult to finely control grasp and grip.
B. Implanted Myoelectric Sensors (IMES)

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Fig. 8 Implanted Myoelectric Prosthetic Arm

The IMES system is a device used to improve signal quality and consistency of
myoelectric signals for prosthetic control. The end caps serve as electrodes for picking up
EMG activity during muscle contraction. Reverse telemetry (via a coil around the arm) is
used to transfer data from the implanted sensor, and forward telemetry is used to transmit
power and configuration settings to the sensors. The coil and associated electronics are housed
within the frame of a prosthesis. A control system that sends data associated with muscle
contraction to the motors of the prosthetic joints is housed in a belt-worn, battery-powered
device. A cable attaches the control unit to the prosthetic frame. An IMES is implanted into
each targeted muscle that will be used to control a function of the prosthetic arm. This means,
for each function would need one implanted sensor in one muscle per function (open hand or
close hand).
Barriers/Current Problems:
• Total Cost: ~ Rs.1,50,00,000 (very expensive)
• Invasive Process.
The expensive cost and accessibility of the current prosthetic arms leaves many
amputees without the option to personally own a prosthetic arm throughout the world.
Passive Prostheses:
Passive prosthetic hands lack active functionality but serve aesthetic and
psychological purposes, aiding users in achieving a natural appearance. Although limited in
functionality, they contribute to a sense of completeness and symmetry for individuals who
prioritize cosmetic aspects.
Hybrid Prosthetics:
Hybrid prosthetic hands combine features of both body-powered and myoelectric
systems, offering versatility. Users can switch between control modes based on activity
requirements. This flexibility optimizes performance across different tasks, striking a balance
between reliability and advanced functionality.
Myoelectric Elbows:
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Myoelectric elbows, similar to myoelectric hands, utilize EMG signals for control,
allowing users to perform more intricate elbow movements. These prostheses enhance the
range of motion and functionality for tasks requiring elbow articulation, providing users with
a comprehensive upper limb solution.
Electrically Powered Prostheses:
Electrically powered prosthetic hands incorporate advanced motors and sensors for
precise control. These cutting-edge devices offer a high degree of functionality, enabling
users to perform intricate tasks with increased ease. However, their complexity often reflects
in a higher price range.
Finger Prostheses:
Finger prostheses address the need for partial hand or finger replacements. Whether
body-powered, myoelectric, or passive, these devices aim to restore grip, precision, and
aesthetics. Customizable to individual needs, finger prostheses contribute to overall hand
function and appearance.

In conclusion, the varied landscape of prosthetic hands provides users with a spectrum
of choices, each catering to specific needs and preferences. From traditional body-powered
options to technologically advanced myoelectric and electrically powered alternatives,
individuals can find prosthetic solutions that align with their lifestyle, activities, and personal
comfort.

Case Study

What is Electromyography?

Measuring muscle activation via electric potential, referred to as electromyography (EMG),

has traditionally been used for medical research and diagnosis of neuromuscular disorders.
However, with the advent of ever shrinking yet more powerful microcontrollers and integrated
circuits, EMG circuits and sensors have found their way into Prosthetics, Robotics and other
control systems.

Electromyography (EMG) is an electrodiagnostic medicine technique for evaluating and

recording the electrical activity produced by skeletal muscles. EMG is performed using an
instrument called an electromyograph to produce a record called an electromyogram.

Electromyography (EMG) is a diagnostic procedure that evaluates the health condition

of muscles and the nerve cells that control them. These nerve cells are known as motor neurons.
They transmit electrical signals that cause muscles to contract and relax. An EMG translates these
signals into graphs or numbers, helping doctors to make a diagnosis.

Most of the standard EMG measurement systems are expensive and not feasible for
personal applications.

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Fig 9. Human muscle

The electrical activity picked up by the electrodes is displayed on an oscilloscope.

An audio-amplifier is used so the activity can be heard. EMG measures the electrical activity of
muscle during rest, slight contraction, and forceful contraction. Muscle tissue does not normally
produce electrical signals during rest. When an electrode is placed, a brief period of activity can be
seen on the oscilloscope.

How EMG is measured?

Fig. 10 EMG measurement signal

Surface EMG assesses muscle function by recording muscle activity from the surface above
the muscle on the skin. Surface electrodes are able to provide only a limited assessment of muscle
activity. Surface EMG can be recorded by a pair of electrodes or by a more complex array
of multiple electrodes. More than one electrode is needed because EMG recordings display
the potential difference between two separate electrodes.

Fig. 11 EMG measurement system

Myoware Muscle sensor (AT-04-001)

Here the sensor to read muscle activation signal, it is from Advancer technologies. It is
suitable for producing raw EMG signal and Analog output signal for microcontroller-based
application, this sensor designed for reliable EMG output with low power consumption.

It operates with single power supply (+2.9V to +5.7V) with polarity reversal protection,
additional feature in this sensor is that we can adjust the sensitivity gain.
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Sensor Layout

The sensor has a wearable design that allows you to attach biomedical sensor pads directly
to the board. This board includes a single-supply voltage of +3.1V to +5V, RAW EMG output,
polarity protected power pins, indicator LEDs, and an On/Off switch. Additionally, it has a few
shields like Cable, Power & Proto that can attach to the Myoware Muscle Sensor to help increase
its versatility and functionality!

Fig. 12 Myoware Muscle sensor

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MyoWare Muscle Sensor in detail

1. Embedded Electrode Connectors:

The embedded electrode connectors allow you to stick the board right to the target muscle
and avoid the hassle of wires.

2. Cable Shield:
There may still be cases where you want to mount the sensor pads away from the other
hardware. For these cases, the MyoWare Cable Shield is used.

3. Electrode Cable:
Instead of attaching the sensor pads directly to the MyoWare Muscle Sensor, they can be
attached to the shield’s 3.5mm TRS jack connector. Both sets of contacts will be connected
together, so make sure to only use one pad for each reference [R], end [E], and middle [M] pin.

4. Power Shield:
The MyoWare Power Shield is designed to take two coin cell batteries such as some
standard CR2032s. They are connected in parallel for extended capacity at a nominal 3.0V.

5. Proto Shield:
The MyoWare Proto Shield passes all signals to a bit of protoboard. Use this area to solder on
whatever custom circuitry you can come up with.

6. LED Shield:
For those users looking for a large display of the signal level, we offer the MyoWare LED
Shield.

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Arduino Myoware sensor Schematics

Fig. 13 Arduino Myoware sensor Schematics

This sensor is simple like others which produce analog output voltage, connect battery to
provide separate power supply to the sensor and isolation amplifier (ISO124) between Arduino
board. Here isolation amplifier and battery provide isolation between user and electrical grid.

Connect the Sensor VCC to 5V of Arduino & GND to GND. Similarly, connect the analog pin to
A0 of Arduino since we are measuring the analog voltage.

Steps to be followed to use Myoware Muscle Sensor

1. Fist thoroughly clean the intended area with soap to remove dirt and oil.

2. Snap electrodes to the sensor’s snap connectors

3. Peel off the backs of the electrodes to expose the adhesive and apply them to the skin.

4. Place the sensor on the desired muscle. Place the sensor so one of the connected electrodes
is in the middle of the muscle body. The other electrode should line up in the direction of

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the muscle length.

5. Place the reference electrode on a bony or nonadjacent muscular part of your body near the
targeted muscle.
6. Connect the sensor to the Arduino Board as per the circuit diagram.

We can either connect the Embedded Electrode Connectors directly to the muscles as shown above.
Or we can use the cable shield along with the cable connectors directly as shown below.

The extension shield has a long cable which helps in placing the sensor far away from the
computer.

Fig. 14 Setup of Electromyography

Testing & Results: Electromyography

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After uploading the code, you can start testing the sensor and start observing the value. To test the
sensor working, stretch your arm. Then you can contract or relax the muscle. This will produce an
analogue

voltage, that can be observed on Serial Monitor.

Fig 15. Result of Electromyography

The waveform can be observed on Serial Plotter as well. To do so, open the serial plotter
screen and see the waveform when the arm is brought into movement.

Literature Gap

1. Affordability and Accessibility:

Gap: Limited literature addressing cost-effective solutions and accessibility of upper limb prosthetics
for a broader demographic.

Solution: Develop cost-efficient materials and manufacturing processes, ensuring affordability and
wider access to advanced prosthetic hands.

2. User Fatigue and Comfort:

Gap: Insufficient exploration of user fatigue issues related to prolonged prosthetic use and the need
for improved comfort.

Solution: Innovate designs, materials, and ergonomic considerations to minimize fatigue, enhancing
overall comfort during extended wear.

3. Customization and User-Centric Design:

Gap: Scarce literature on personalized prosthetic designs that cater to individual preferences,
lifestyle, and aesthetic choices.

Solution: Prioritize user-centric design, incorporating customization options to meet diverse needs
and preferences, ultimately enhancing user satisfaction.

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Design Process Planning of Prosthetic Hand

Problem Identification

Problem definition

CAD (Solidworks)
Material selection
Sensor selection

Engineering Analysis
Static analysis
Kinematic analysis

Prototyping

Assembly

1) Problem Identification and Recognition Need

Identifying and addressing challenges in prosthetic hand manufacturing is crucial for
developing effective and user-friendly devices. Here are some common problems associated with
prosthetic hand manufacturing:
Cost: Prosthetic hands can be expensive, limiting accessibility for many individuals. Finding ways
to reduce manufacturing costs without compromising quality is essential.
Customization: Prosthetic hands need to be durable to withstand daily activities. Selecting
appropriate materials that are both lightweight and robust is crucial. Ensuring the longevity of the
device helps reduce the frequency of replacements. Prosthetic hands should be comfortable to wear
for extended periods. This involves designing ergonomic and lightweight structures and using
materials that do not cause irritation or discomfort to the user's skin.

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2) Problem Identification

Identifying problems is a crucial step in the development of any project, including advanced
prosthetic arm development. The following are key problem areas that motivate the need for
innovation in prosthetic arm technology:
Limited Range of Motion:
Issue: Traditional prosthetic arms often have a limited range of motion, restricting users in their daily
activities.
Impact: Users face challenges in reaching, grasping, and manipulating objects, hindering their
independence.
Difficulty in Fine Motor Control:
Prosthetic arms may not provide sufficient fine motor control, making it challenging for users to
perform delicate tasks.
Impact: Users experience limitations in activities that demand precision, affecting their professional
and personal lives.
User Discomfort and Fatigue:
Issue: Some prosthetic arms are heavy and uncomfortable, causing user fatigue and discomfort over
extended use.
Impact: Discomfort and fatigue limit the practicality of prosthetic arms for continuous wear
throughout the day.
It is expensive

3) Design of prosthetics

Designing a prosthetic hand involves a systematic and multidisciplinary approach. The

following steps outline the process, from conceptualization to material selection and sensor
integration:
A. Sketching:
Begin with conceptual sketches that outline the basic form, structure, and functionality of
the prosthetic hand. Consider user needs, aesthetics, and intended activities during this phase.
B. Computer-Aided Design (CAD):
SolidWorks Software: Transition from sketches to detailed 3D models using CAD software,
such as SolidWorks. Create a digital representation of the prosthetic hand, incorporating dimensions,
joints, and mechanical components.
C. Material Selection:
Biocompatible Materials: Choose biocompatible materials to ensure safety and compatibility
with the human body. Consider factors such as strength, durability, and weight.
Lightweight Alloys: Opt for lightweight alloys, such as aluminium or titanium, to strike a
balance between strength and weight, enhancing user comfort.

D. Mechanical Structure:
Joint Design: Design joints and articulations that mimic the natural range of motion of the
human hand. Ensure the prosthetic hand is capable of performing a variety of grasping and gripping
movements.

4) Engineering Analysis
Engineering analysis is a critical phase in the design of prosthetic hands, encompassing both
static and kinematic analyses. These analyses provide insights into the structural integrity, stability,
and functionality of the prosthetic hand design.

A. Static Analysis:
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Static analysis focuses on assessing the structural stability and stress distribution within the
prosthetic hand under various loading conditions. Key components of static analysis for prosthetic
hand design include:
Material Properties: Evaluate the mechanical properties of chosen materials, considering factors
such as tensile strength, yield strength, and elasticity. Choose materials that offer the required
strength and durability for different components of the prosthetic hand.
Load Distribution: Apply static loads to simulate the forces experienced during daily activities.
Analysis how these loads distribute across the prosthetic hand's structure, ensuring that stress
concentrations are within acceptable limits.
Joint Stability: Assess the stability of joints and articulations within the prosthetic hand. Ensure that
joints can withstand applied forces without excessive deformation or failure.
Safety Factors: Apply safety factors to account for uncertainties in loading conditions and material
properties. Ensure that the prosthetic hand design has an adequate margin of safety to prevent failure
under normal usage.
Component Analysis: Examine individual components of the prosthetic hand, such as fingers, joints,
and structural elements, to identify areas of potential weakness and optimize for strength.

B. Kinematic Analysis:

Kinematic analysis focuses on studying the motion and movement characteristics of the
prosthetic hand. This analysis is crucial for ensuring that the design facilitates natural and functional
movements. Key considerations in kinematic analysis include:
Joint Range of Motion: Evaluate the range of motion at each joint in the prosthetic hand. Ensure that
the design allows for a natural and sufficient range of movements to perform daily tasks.
Realistic Simulation: Utilize software tools to simulate the kinematics of the prosthetic hand under
various conditions, allowing for virtual testing and refinement before physical prototypes are built.
The combination of static and kinematic analyses ensures a comprehensive understanding of the
prosthetic hand's mechanical behavior and its functional capabilities. This engineering analysis aids
in refining the design iteratively, addressing structural concerns, optimizing movement capabilities,
and ultimately contributing to the development of a prosthetic hand that meets both engineering and
user-centric criteria.

5)Prototyping and Assembly

It is the final stage in design planning.

A. Prototyping:
3D Printing: Utilize advanced 3D printing technologies to create precise prototypes of
individual components, such as fingers, joints, and the hand structure. This allows for rapid iteration
and refinement of the design.
Materials Testing: Evaluate the mechanical properties of 3D-printed prototypes to ensure they align
with design specifications. Test different materials to find the optimal balance of strength, weight,
and durability.
Functional Testing: Conduct functional testing on prototypes to assess the range of motion, joint
stability, and overall performance. Solicit user feedback during this phase to identify areas for
improvement.

B. Assembly:
Component Integration: Assemble the individual components, ensuring proper alignment and
functionality. Pay close attention to joint articulations, ensuring they facilitate natural movements.
Sensor Integration: Integrate sensors, such as myoelectric or accelerometers, into the prosthetic hand
to enable precise control mechanisms. Verify sensor accuracy and responsiveness during assembly.
Power System Integration: Implement the power system.
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Status of Project

Sr. Title (Work) Status

No.

1. Meeting with guide for discussing various project topics Completed

2. Project topic decided after discussing with guide. Completed

3. Presentation on Project topic finalization Completed

4. Problem Identification while studying various research Completed

papers

5. Research on project Completed

6. Literature Survey Completed

7. Pre-Presentation Completed

8. Case study on sensors Completed

9. Component Specification and Cost Estimating Completed

10. CAD Design In Progress

11. Engineering Analysis Incomplete

12. Prototyping Incomplete

13. Testing and Results. Incomplete

14. Final Result & Conclusion Incomplete

15. Paper Presentation & Project Completion Incomplete

16. Presentation &Final Thesis Submission Incomplete

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Component used in myoelectric prosthetic hand

Sr. Components Price

No.
1. Arduino Nano Board Rs. 250

2. Myoware Muscle Sensor Kit Rs. 1600

3. 5V DC Power Supply Rs. 400

Lippo battery
4. Servo motor (MG996R) Rs. 500X6 = Rs. 3000

5. Wire connection (jumper wires) Rs. 100

6. 3d Printed parts Yet to conclude

7. Spare part Yet to conclude

Total: Rs. 5000 and more.

Conclusion

In Phase 1 of our major project on prosthetics, significant progress has been achieved
through meticulous design planning, a comprehensive literature survey, and insightful case studies.
This groundwork lays the foundation for the ongoing work, promising innovative advancements in
the field of prosthetic development, with a focus on user-centric design.

References

1) Design of an Affordable Prosthetic Arm Equipped with Deep Learning Vision-Based

Manipulation Alishba Imran1 , William Escobar1 , Dr. Freidoon Barez1 1 San Jose State University,
San Jose, CA.

2) Theorycircuit.com,myoware-muscle-sensor-interfacing-arduino.

3) Imran, A. (2020). Prosthetic Arm Project Requirements.

4) Imran, A. (2020, May 20). Robotic hand that can see for itself. Medium.com.

5) Laura H. B. Huinink, Hanneke Bouwsema, Dick H. Plettenburg, Corry K. van der Sluis, Raoul M.
Bongers. (2016). Learning to use a body-powered prosthesis: changes in functionality and
kinematics. Journal of NeuroEngineering and Rehabilitation, 10.1186/s12984-016-0197-7.

6) how2electronics.com, electromyography-emg-with-myoware-muscle-sensor-arduino.

7) Chatgtp used as a tool

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8) Our Office: Office of the Chief Commissioner for Persons with Disabilities, Government of
India"Ccdisabilities.nic.in. Archived from the original on 4 June 2013. Retrieved 8 May 2013.

9) Artificial Limbs Manufacturing Corporation of India (ALIMCO) is a Schedule ‘C’ Miniratna

Category II Central Public Sector Enterprises.

YouTube Links

1) https://youtu.be/0CpiQdgV81g?si=JIxQV-SjPTjXfUpN

2) https://youtu.be/5wlx8JndAgs?si=KttmZd3Ykgu65fEM

3) https://youtu.be/CIqzeBxkRws?si=AA4HYdk4f64Rvwbx

4) https://youtube.com/shorts/vz6QSIeNuSc?si=WOk_sZNlitloP4Pu

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