Diseño, construcción y pruebas de un prototipo de prótesis de mano transradial de dos grados de libertad controlado por cables y activado por voz

Abstract

The objective of this work was to achieve a transradial prosthesis prototype that has two degrees of freedom, activated by voice commands and that has an organic shape as close to a hand. Starting from an analysis of mechanisms that was carried out on the phalanges respectively of each finger as if they were a link, it was divided into two different mechanisms, the fingers that are composed of three phalanges and the thumb that has two phalanges, from the mechanism it was obtained the positions, speeds that gave 0.62mm/s and an acceleration of 1.172 mm/s2 of how the fingers will be acting without considering the force, the effort of the strings was not analyzed since the grip is produced by the friction of the fingers with the object, with the base of the mechanism, a CAD model was obtained which meets the requirements of the mechanism, the union of the mechanism and the model gives a prototype in mechanical style with parts with geometric shapes, starting from the mechanical model, a for voice control in this case, the sensor used was VoiceRecognition V3, which provides seven commands to use. By automating this system, it was possible to operate and later with this model and 3D sculpture software, the final prototype was achieved. The resulting model is attached to the objects, but when passing 220 grams of weight it is no longer capable of supporting said load since the fingers depend on the friction of the material, with a better microphone it was possible to improve the drive in the same way by having a charging system that can be made easily, a functional prototype is obtained. It is recommended for a better grip to increase one degree of freedom in the thumb.