Implementación de un prototipo de prótesis con control muscular para mejora del movimiento y agarre de objetos, aplicada a personas con muñón o malformación en los dedos de la mano.

Abstract

In this research a prototype of hand prostheses with muscular control and wireless communication was implemented. Muscle gestures are linked to movements of fingers of the prosthesis; these are executed from a controller capable of identifying the myoelectric signals with a sampling response of 2 ms and a latency of execution of less than 1 second. It consists of four modules; the sensing module is communicated in wireless using Bluetooth technology. The first called sensing module formed by myoelectric sensors collects the information provided by the muscular movements of the arm and transmit it in a wireless way to the control module. The second, a control module formed by a microcontroller mounted on an Arduino card in charge of receiving the signals from the sensors, identifying the gestures and sending control signals and warnings to the remaining modules. The third, a module of action, is formed by servomotors responsible for the movement of the fingers to execute the grips. The fourth, a warning module formed by led indicators. All these modules are mounted on a structure printed in 3D, so that it is adaptable, light and comfortable for the user. It is a modular system, low cost, adaptable, easy installation and management, which allows the wireless control off a muscle signal from the arm. With the tests carried out, it was found that the implemented system is adaptable in both software and hardware, lightweight, low cost, and it is efficient to obtain 90% success in the finger movement tests when making grasping and gestural movements, being suitable for use in people with stump or malformation in fingers of the hand.