Integración de señales electromiográficas a sistemas de control para manipulación de una prótesis robótica de mano

Abstract

The present research was developed as an activity within the project "Automation of upper limb movements for high-risk industrial jobs and adaptation of robotic prostheses for the improvement of life quality in labour integration within the industries " of the research group AUTOPRO from the Mechanics Faculty with the objective of linking the academy with the society, presenting a solution to the problem of a 19-years-old young lady who lost her right hand, part of her forearm and the total mobility of the left hand as a result of an accident, whose case was attended at the hospital of the Ecuadorian Institute of Social Security IEES of Latacunga city, with the implementation of a control system based on the processing of EMG signals for the manipulation of a robotic hand prosthesis. The starting point was the feasibility analysis of the use of an existing prosthesis, previously designed for the case study. A Myo bracelet was used as an EMG signal acquisition device, the information was directed through a wireless interface (bluetooth) to an embedded system with a microcontroller (Arduino Uno) for its processing, and the actuators were used to generate movement of the 3.7kgf prosthesis driven by servomechanisms. Through the integration of the exposed devices, a control system was obtained which, by means of the Myo Connect application, a calibration process was created in order to relate signals from the forearm of the case study with the manipulation of the actuators. In the end, tests were carried out for the different movements, obtaining an efficiency of 89,2% in gesture recognition. It is recommended to evaluate after 6 months the control system and the patient for the devices calibration.