Hardware design and software development of a motion control and driving system for transradial prosthesis based on a wireless myoelectric armband

摘要

This research work presents the design of the electronics modules of Adam's Hand, a transradial myoelectric prosthesis based on an innovative mechanism which can actuate five three-phalanges fingers (15 degrees of freedom) with just one motor, instead of the five/six motors conventionally used in other prosthetic devices; moreover, the prosthesis uses two servomotors to actuate the wrist movements. Adam's Hand fingertips are provided with temperature and pressure sensors, while the user myoelectric signals are acquired wirelessly by means of the Myo armband, a wearable device provided with eight electromyography electrodes, a nine-axis inertial measurement unit, and a transmission module. These data are received through an HM-11 BLE module, connected to Adam's Hand custom PCB, which features an Arduino Micro board. This board processes all the data and drives the actuators by means of properly chosen drivers. A Raspberry Pi 3 board manages a touchscreen display - which can be used to visualise the gathered data - and sends them to a dedicate cloud platform, so that the orthopaedic technicians who take care of Adam's Hand users can monitor them in real time, thus improving their recovery during the rehabilitation period.