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The Advanced Prosthetic Hand Project

The Advanced Prosthetic Hand Project. Jessica Reddy, IMSURE Fellow Mentor: Dr. William C. Tang. Jessica’s Journey…. 3. Where do I begin?. Solutions: Read, read, and read. 2. Solved. 3. Grad Student! (Shawn). Hurdles: Bio-major’ness I know how a muscle works, but an artificial muscle?.

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The Advanced Prosthetic Hand Project

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  1. The Advanced Prosthetic Hand Project Jessica Reddy, IMSURE Fellow Mentor: Dr. William C. Tang

  2. Jessica’s Journey… • 3. Where do I begin? • Solutions: • Read, read, and read. • 2. Solved. • 3. Grad Student! (Shawn) • Hurdles: • Bio-major’ness • I know how a muscle works, but an artificial muscle? • 2. Purchasing FEMLAB

  3. Current Artificial Limb Technology Myoelectric Prostheses Electrode in prosthesis socket detects EMG signals from residual muscle remnant Prosthetic Hook Thumb-index finger pinch Sgt. Joseph Bozik Walter Reed Medical Center

  4. Proposed Advancements • Implantation of Neural Prosthetic into: • Brachial Plexus nerve (short term goal) • Cortical brain area (long term goal) • Multiple sites • Develop a prosthetic hand with multiple degrees of freedom • Use skeletal model of human hand for frame • Tactile sensing • Low weight, low energy consumption

  5. Pneumatic Artificial Muscle • Contractile and linear motion engine operated by gas pressure • Flexible closed membrane attached at both ends to fittings • Mechanical power is transferred to a load

  6. Pneumatic Artificial Muscle • Course of action: • As contraction , volume to max force to 0 & contraction max

  7. Characterization of the Optimal Artificial Muscle Generated force depends on… • Type of membrane • Geometry • The way it inflates • Length • Gauge pressure

  8. Braided Muscles • Gas-tight elastic tube surrounded by a braided shell • Braid fibers run helically about the muscle’s longitudinal axis at an angle • When pressurized the tube presses laterally against the shell

  9. Mckibben Artificial Muscle • Muscle contracts axially • (With lateral expansion) • Causes pulling force on its load

  10. Mckibben Artificial Muscle Drawbacks: • Friction between braid and tube • Hysteresis • Requires complex control algorithm • Deformation of rubber tube • Pressure Threshold • Flaws in membrane material • Maximum displacement is limited. • 20-30% contraction • Low force output • 650 N (rest); 300 N (15% contraction); 0 N (30% contraction) • Applied pressure: 300 kPa, length=15 cm; rest diameter=1.4cm

  11. Building a more suitable design… • Avoid friction:use a single layer actuator • Therefore, simplifying the control • Avoid deformation:use membrane material with high tensile stiffness • No pressure threshold:use elastic membrane material

  12. Building a more suitable design… • Want little stress in lateral direction to minimize elastic deformation (strain) • How to achieve lateral expansion with a high tensile stiffness material? • Rotationally repeated pattern • Pleats

  13. Pleated Pneumatic Artificial Muscle • Pack membrane into many folds along axis of muscle • Maximum displacement: 40-50% • Force output: • 3,300 N at 5% contraction; 1,300 N at 20% contraction; 0 N at 43% contraction • Applied pressure: 300 kPa, length=10 cm, diameter=2.5 cm

  14. With these considerations in mind, let’s build a model!

  15. Kevlar 49: • High tensile strength • High elastic modulus • Low density

  16. Y-Displacement Throughout Cross section

  17. X-Displacement Throughout Cross section

  18. Upcoming endeavors… • Introduce pleats • Represent other layers of muscle • Polyproylene lining • Extend model to 3D • Include End Fittings • Miniaturization of the Artificial Muscle

  19. UCI Subsystem Development Team Members Pending DARPA Award. Artificial Muscle • William C. Tang (Team Lead), Professor, Biomedical Engineering Department, Electrical Engineering & Computer Science Department • Ryan Langan, UROP SURP Fellowship Neural Interface • William E. Bunney, Distinguished Professor & Co-Chair, Department of Psychiatry & Human Behavior • James H. Fallon, Professor, Department of Anatomy and Neurobiology Communications • Payam Heydari, Assistant Professor, Department of Electrical Engineering & Computer Science Tactile Sensor • Abraham P. Lee, Professor, Biomedical Engineering Department, Mechanical & Aerospace Engineering Department Interface and Algorithm • Zoran Nenadić, Assistant Professor, Biomedical Engineering Department

  20. Please visit our website:www.advancedprosthetichand.com Dr. William C. Tang Webmaster: Ryan Langan

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