Desarrollo de un prototipo de prótesis mioeléctrica de mano de bajo costo empleando actuadores lineales y sensores musculares.

Abstract

In the present Titling work, it was developed a prototype of a low-cost hand-held myoelectric prosthesis that has 6 degrees of freedom, which complies with the spherical grip of objects of different diameters. The prototype was designed and tested in a real patient. The design of the prototype hardware was made from the scanning of the patient’s limbs and thanks to the use of CAD designs software, the prosthesis movement mechanism was later developed in the Solid Works design software. Each part of the prototype was printed in 3D with carbon fiber and PLA. The circuit involved in the prototype prosthesis composed mainly of the 6 actuators, the MyoWare sensor, the Arduino Nano microcontroller, the 2200mAh battery, the regulator and the actuator driver, was divided into 3 blocks that were located on the body of the patient. The programming that was developed in Arduino performs a stage of calibration of the patient's muscle signals and subsequently detects the muscle signal of the right biceps muscle allowing the movement of the linear actuators based on the size of the spherical object to be grasped. By statistical analysis, it was determined that the range of spherical object diameter that the prototype prosthesis can grasp is 2 to 12 cm with an average effective grip time of 3.3 seconds. It was determined that the proportion of effective grips of the prototype corresponds to 78.89%, which indicates that it is functional. The prototype expenses were calculated, and its final price was determined to be $1000.07 considered at a low cost. It is recommended to add pressure or current sensors to the design to close the control loop and in the future place a smaller battery.