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Lindström, Konni, and Vedran Zurapovic. "Myoelectric Prosthetic Hand." Thesis, Högskolan i Halmstad, Akademin för ekonomi, teknik och naturvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37146.
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This thesis is a development project for a myoelectric prosthetic hand. That means a mechanical hand that is controlled and actuated by the user's own muscles on the residual limb. The thesis has led to a theoretical concept of a complete prosthesis and a non-complete physical prototype that provides proof of concept and functions. The thesis was as a means of providing the mechanical development of an alternative model of the prosthesis that is more functional and has the ability to offer the users a lower price than current models. The foundation of the project is that the development has been done on a user needs basis. This leads to customer requirements that are derived from the users themselves. The development begun with a wide research to obtain user feedback as well as technical data of different mechanical solutions. The focal point of the thesis is the mechanical aspect of the prosthetic while the electronic and sensory systems were implemented with the use of standardized components.
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Light, Colin Michael. "An intelligent hand prosthesis and evaluation of pathological and prosthetic hand function." Thesis, University of Southampton, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.342845.
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Hossameldin, Abdelwahed, and O. Kravchuk. "Prosthetic hand using ARDUINO." Thesis, ХНУРЕ, 2021. https://openarchive.nure.ua/handle/document/15691.
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This paper describes the field of prosthetics has seen many accomplishments especially with the integration of technological advancements. There are different types of hand (robotic, surgical, bionic, prosthetic and static) are analyzed in terms of resistance, usage, flexibility, cost and potential. We use Servo to control the fingers by connect the fingers to servo by cord after we connect it to the finger and threading it through all the narrow holes, the opening ‘and closing ‘finger positions are marked.
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Barkhorder, Mohammad. "Control of a multifunctional hand prosthesis." Thesis, University of Southampton, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.328276.
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Kyberd, Peter Joseph. "Algorithmic control of a multifunction hand prosthesis." Thesis, University of Southampton, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.277498.
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Rubiano, Fonseca Astrid. "Smart control of a soft robotic hand prosthesis." Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100189/document.
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Le sujet principal de cette thèse est le développement d’un contrôle commande intelligentpour une prothèse de main robotique avec des parties souples qui comporte: (i) uneinterface homme–machine permettant de contrôler notre prothèse, (ii) et des stratégiesde contrôle améliorant les performances de la main robotique. Notre approche tientcompte : 1. du développement d’une interaction intuitive entre l'homme et la prothèse facilitantl'utilisation de la main, d'un système d’interaction entre l’utilisateur et la mainreposant sur l'acquisition de signaux ElectroMyoGrammes superficiels (sEMG) aumoyen d'un dispositif placé sur l'avant-bras du patient. Les signaux obtenus sontensuite traités avec un algorithme basé sur l'intelligence artificielle, en vued'identifier automatiquement les mouvements désirés par le patient.2. du contrôle de la main robotique grâce à la détection du contact avec l’objet et de lathéorie du contrôle hybride.Ainsi, nous concentrons notre étude sur : (i) l’établissement d’une relation entre lemouvement du membre supérieur et les signaux sEMG, (ii) les séparateurs à vaste margepour classer les patterns obtenues à partir des signaux sEMG correspondant auxmouvements de préhension, (iii) le développement d'un système de reconnaissance depréhension à partir d'un dispositif portable MyoArmbandTM, (iv) et des stratégieshybrides de contrôle commande de force-position de notre main robotique soupleThe target of this thesis disertation is to develop a new Smart control of a soft robotic hand prosthesis for the soft robotic hand prosthesis called ProMain Hand, which is characterized by:(i) flexible interaction with grasped object, (ii) and friendly-intuitive interaction between human and robot hand. Flexible interaction results from the synergies between rigid bodies and soft bodies, and actuation mechanism. The ProMain hand has three fingers, each one is equipped with three phalanges: proximal, medial and distal. The proximal and medial are built with rigid bodies,and the distal is fabricated using a deformable material. The soft distal phalange has a new smart force sensor, which was created with the aim to detect contact and force in the fingertip, facilitating the control of the hand. The friendly intuitive human-hand interaction is developed to facilitate the hand utilization. The human-hand interaction is driven by a controller that uses the superficial electromyographic signals measured in the forearm employing a wearable device. The wearable device called MyoArmband is placed around the forearm near the elbow joint. Based on the signals transmitted by the wearable device, the beginning of the movement is automatically detected, analyzing entropy behavior of the EMG signals through artificial intelligence. Then, three selected grasping gesture are recognized with the following methodology: (i) learning patients entropy patterns from electromyographic signals captured during the execution of selected grasping gesture, (ii) performing a support vector machine classifier, using raw entropy data extracted in real time from electromyographic signals
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Hullard, Stephen Mark. "Studies towards siloxane-urethane elastomers for upper extremity prosthesis cosmetic gloves." Thesis, Cardiff University, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316357.
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Liu, Jian. "Adaptive hand grasp in a multi-digit prosthesis with active perception." Thesis, Open University, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.434228.
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Ramirez, Arias José Luis. "Development of an artificial muscle for a soft robotic hand prosthesis." Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100190/document.
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Le thème central de cette thèse est la conception d’actionneurs doux à partir de matériaux intelligents et d’une prothèse de main robotique souple. Notre approche prends en compte les différents points qui peuvent influer sur le développement d’une stratégie d’actionnement ou d’un muscle artificiel : i) Les mécanismes et la fonctionnalité de la main humaine afin d’identifier les exigences fonctionnelles pour une prothèse de main robotique en matière de préhension. ii) L’analyse et l’amélioration des mécanismes de la main robotique pour intégrer un comportement souple dans la prothèse. iii) L’évaluation expérimentale de la prothèse de main robotique afin d’identifier les spécifications du système d’actionnement nécessaire au fonctionnement cinématique et dynamique du robot. iv) Le développement et la modélisation d’une stratégie d’actionnement utilisant des matériaux intelligents.Ces points sont abordés successivement dans les 4 chapitres de cette thèse1. Analyse du mouvement de la main humaine pour l’identification des exigences technologiques pour la prothèse de main robotique.2. Conception et modélisation de la prothèse de main robotique à comportement souple.3. Evaluation mécatronique de la prothèse de main.4. Conception d’un muscle artificiel basé sur des matériaux intelligentsIn the field of robotic hand prosthesis, the use of smart and soft materials is helpful in improving flexibility, usability, and adaptability of the robots, which simplify daily living activities of prosthesis users. However, regarding the smart materials for artificial muscles, technologies are considered to be far from implementation in anthropomorphic robotic hands. Therefore, the target of this thesis dissertation is to reduce the gap between smart material technologies and robotic hand prosthesis. Five central axes address the problem: i)identification of useful grasping gestures and reformulation of the robotic hand mechanism, ii) analysis of human muscle behavior to mimic human grasping capabilities, iii) modeling robot using the hybrid model DHKK-SRQ for the kinematics and the virtual works principle for dynamics, iv) definition of actuation requirements considering the synergy between prehension conditions and robot mechanism, and v) development of a smart material based actuation system.This topics are addressed in four chapters:1. Human hand movement analysis toward the hand prosthesis requirements2. Design and modeling of the soft robotic hand ProMain-I3. Mechatronic assessment of Prosthetic hand4. Development of an artificial muscle based on smart materials
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Carver, Keith Charles. "The in vivo antibacterial efficacy of ultrasound after hand and rotary instrumentation in human mandibular molars." Connect to resource, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1186689182.
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Andrecioli, Ricardo. "Grasped Object Detection for Adaptive Control of a Prosthetic Hand." University of Akron / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=akron1364481779.
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Ali, Ali Hussein. "An investigation of electromyographic (EMG) control of dextrous hand prostheses for transradial amputees." Thesis, University of Plymouth, 2013. http://hdl.handle.net/10026.1/2860.
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There are many amputees around the world who have lost a limb through conflict, disease or an accident. Upper-limb prostheses controlled using surface Electromyography (sEMG) offer a solution to help the amputees; however, their functionality is limited by the small number of movements they can perform and their slow reaction times. Pattern recognition (PR)-based EMG control has been proposed to improve the functional performance of prostheses. It is a very promising approach, offering intuitive control, fast reaction times and the ability to control a large number of degrees of freedom (DOF). However, prostheses controlled with PR systems are not available for everyday use by amputees, because there are many major challenges and practical problems that need to be addressed before clinical implementation is possible. These include lack of individual finger control, an impractically large number of EMG electrodes, and the lack of deployment protocols for EMG electrodes site selection and movement optimisation. Moreover, the inability of PR systems to handle multiple forces is a further practical problem that needs to be addressed. The main aim of this project is to investigate the research challenges mentioned above via non-invasive EMG signal acquisition, and to propose practical solutions to help amputees. In a series of experiments, the PR systems presented here were tested with EMG signals acquired from seven transradial amputees, which is unique to this project. Previous studies have been conducted using non-amputees. In this work, the challenges described are addressed and a new protocol is proposed that delivers a fast clinical deployment of multi-functional upper limb prostheses controlled by PR systems. Controlling finger movement is a step towards the restoration of lost human capabilities, and is psychologically important, as well as physically. A central thread running through this work is the assertion that no two amputees are the same, each suffering different injuries and retaining differing nerve and muscle structures. This work is very much about individualised healthcare, and aims to provide the best possible solution for each affected individual on a case-by-case basis. Therefore, the approach has been to optimise the solution (in terms of function and reliability) for each individual, as opposed to developing a generic solution, where performance is optimised against a test population. This work is unique, in that it contributes to improving the quality of life for each individual amputee by optimising function and reliability. The main four contributions of the thesis are as follows: 1- Individual finger control was achieved with high accuracy for a large number of finger movements, using six optimally placed sEMG channels. This was validated on EMG signals for ten non-amputee and six amputee subjects. Thumb movements were classified successfully with high accuracy for the first time. The outcome of this investigation will help to add more movements to the prosthesis, and reduce hardware and computational complexity. 2- A new subject-specific protocol for sEMG site selection and reliable movement subset optimisation, based on the amputee’s needs, has been proposed and validated on seven amputees. This protocol will help clinicians to perform an efficient and fast deployment of prostheses, by finding the optimal number and locations of EMG channels. It will also find a reliable subset of movements that can be achieved with high performance. 3- The relationship between the force of contraction and the statistics of EMG signals has been investigated, utilising an experimental design where visual feedback from a Myoelectric Control Interface (MCI) helped the participants to produce the correct level of force. Kurtosis values were found to decrease monotonically when the contraction level increased, thus indicating that kurtosis can be used to distinguish different forces of contractions. 4- The real practical problem of the degradation of classification performance as a result of the variation of force levels during daily use of the prosthesis has been investigated, and solved by proposing a training approach and the use of a robust feature extraction method, based on the spectrum. The recommendations of this investigation improve the practical robustness of prostheses controlled with PR systems and progress a step further towards clinical implementation and improving the quality of life of amputees. The project showed that PR systems achieved a reliable performance for a large number of amputees, taking into account real life issues such as individual finger control for high dexterity, the effect of force level variation, and optimisation of the movements and EMG channels for each individual amputee. The findings of this thesis showed that the PR systems need to be appropriately tuned before usage, such as training with multiple forces to help to reduce the effect of force variation, aiming to improve practical robustness, and also finding the optimal EMG channel for each amputee, to improve the PR system’s performance. The outcome of this research enables the implementation of PR systems in real prostheses that can be used by amputees.
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TECHENS, CHLOE. "Metal-on-Polymer Wear for Orthopaedic Hand Prostheses : Metall-på-polymer-slitage för ortopediska handproteser." Thesis, KTH, Skolan för kemi, bioteknologi och hälsa (CBH), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230798.
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Metal-on-polymer prostheses in orthopaedics are often subject to high wear level producing large polyethylene particles that the body has difficulties to eliminate. Those debris can lead to prosthesis loosening. This study investigates the wear behaviour of TA6V, a CoCr alloy, M30NW and 316L stainless steels against UHMWPE on a pin-on-disc tribometer under lubricated conditions. Friction coefficient of 316L showed an inflection in their rise while the increase of others was linear. 316L also produced the most friction and wear. On the contrary, CoCr confirmed its good properties. Both stainless steels showed similar behaviour and metal manufacturing process only modified UHMWPE loss and not the wear rates.
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Koukal, Ondřej. "Mechanická protéza horní končetiny." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231452.
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This thesis elaborates on design and fabrication of an artificial mechanical upper limb prototype for transradial amputations, i. e. for patients with stump between elbow and wrist joints. The artificial limb is designed for use in a wide spectrum of patients. Therefore, the main components are designed to be applicable to smaller as well as larger hand dimensions. The artificial mechanical limb is designed to be controlled by the other hand of a patient and enables grasping of objects via cylindrical and hook grip. Fingers are driven by tension springs and can be locked in extension. Clenching can be initiated by pressing a button, which unlocks the fingers, thus an object can be grasped. Wrist joint is adjustable when pressed a release button. Forearm joint is locked by preloaded spring. The lock of the forearm joint is released by sufficient torque. New position of the forearm joint is locked automatically when the torque is not being applied. Prototypes of the artificial mechanical upper limb were manufactured by using of rapid prototyping technologies (FDM, SLM) as well as CNC milling machine. All parts of the artificial limb were designed with regard to manufacturability by conventional methods such as casting, injection and the like. The artificial limb prototype had been designed on 3D data basis of a specific patient, who already has tested the prototype. Following materials were used on the prototype: ABS plastic, SikaBlock M940 polyurethane, aluminium and 316L stainless steel.
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Lutz, Jan. "Myoelektrická protéza ruky." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219509.
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This project treats of using electromyograph as a control standard for prosthetic replacement of human arm. The work is mainly focused on surface signals. Reader is briefed by creation and transmission of the signal. The work takes account of the transmission of the signal for surface electrodes and the differences between the ideal and the real connection. Another point of the thesis is the design of basic system model for simulation of the robotic arm movement, which depends on the measured signal. In the practical part there is the realization of the artificial limb movement. It starts with the roboric arm construction and continues with the communication between computer and the robotic arm. First part of practical testing ends with creating of an user interface, which is capable of control all robotic arm movements. The interface is combined with a computer model in Matlab robotic toolbox. The model is able to move in sync with the real robot. The final part is devoted to practical measurement with Biopac instruments. The obtained signal is modified to be used as controller for the robotic arm. Author's aim is to adjust this movement to be most similar to real movement.
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Lux, Martin. "Experimentální biomechanická protéza ruky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230345.
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This masters thesis deals with experimental biomechanical hand prosthesis designing and its realization in shape of prototype. Hand prosthesis sizing corresponds with adult man hand. Prosthesis functionality is selected with respect to search analysis results, to provide sufficient options to grip different objects. Hand design, including technical documentation, is completely made in Autodesk Inventor 2012. Main parts of prototype are made with using rapid - prototyping technologies. Used materials for parts made by this way are ABS plastics and plaster powder. Firgelli linear actuators (product line L) are used as drive for electrical controlled fingers. Prototype control is realized by PCI card and program, which has been written in LabView.
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Semprevivo, Riccardo. "Realization and Performance Characterization of a Myoelectric Control System for Robotic Hands Based on Kernel Ridge Regression." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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In the field of human-robot interaction, the research is still far to find a solution to a stable control for hand prosthesis. In particular, one of the most promising methodology is represented by the use of electromyographic signals(EMG) of the muscles as a interface between the human and the artificial limb. The EMG is already used to control robotic systems that present a little number of degrees of freedom (d.o.f.), but for more complex controls able to regulate 6 or more hand's degrees of freedom several problems persist. The nonstationarity of the EMG and the nonlinear relation related to the hand configuration, became the main problem that we have to manage. The reason is that the EMG signals change over time under the influence of various factors. One of the state of the art approaches to address this problem is the use of incremental Ridge Regression with Random Fourier Features (iRRRFF) for the myocontrol algorithm, the iRRRFF is a machine learning algorithm for nonlinear mapping that is also able to update the model with new data. This enables the possibility of a continuous adaptation to the changes in the signals. In this work we implement this control in a Matlab/Simulink environment and we create a standard procedure for its use. We use an acquisition scheme that permits to acquire 8 EMG signals of the muscles around the forearm to test the performance of this type of myocontrol and, especially, we focus on the influence of carrying out different training protocols. This was tested involving two type of subject: one expert user that already used a similar EMG system in the past and a naïve user.
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Hermansson, Liselotte. "Upper limb reduction deficiencies in Swedish children : classification, prevalence and function with myoelectric prostheses /." Stockholm, 2004. http://diss.kib.ki.se/2004/91-7140-091-5/.
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Whiteley, Graham Paul. "An articulated skeletal analogy of the human upper-limb." Thesis, Sheffield Hallam University, 2000. http://shura.shu.ac.uk/3169/.
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Currently available upper-limb prostheses do not meet the needs or aspirations of the amputee. Many technical challenges have been given as the limiting factors on the further development of these prostheses. Generally developments have occurred as incremental developments on three existing moderately successful archetypes; the cosmetic, body-powered and myoelectric prostheses. Continued development on these archetypes appears to be further separating prostheses into those primarily considered cosmetic and those primarily considered functional. However, amputees have a need both for function and cosmesis from their prostheses. Technology currently being developed for actuation and control in other laboratories indicates that the previous limitations placed on prosthesis design may be challenged. Therefore, it is appropriate to look for new design archetypes. This thesis describes the development, implementation and evaluation of mechanical analogies of the skeletal components of the human hand and arm which have the potential to inform the design of a new generation of upper-limb prostheses integrating cosmesis and function in a single device. The research has been undertaken using a form of practice led design research methodology. This iterative methodology uses physical models for both evaluation and also as a means of encouraging end-user involvement in the design process. These evaluations are then used in subsequent cycles of research activity. The research has concentrated on developing mechanical analogies of the joints of the hand, wrist, forearm and elbow. The joints of the hand are shown to have a simple and similar structure. Therefore, a modular mechanical archetype has been elucidated that results in a hand configuration made from multiple similar modules positioned at different points throughout the hand. However, the wrist and forearm contain more complex joints which have been found to be unique to their anatomical position. The selection of appropriate prototyping techniques has been an integral part of the research. Problems have arisen in assessing the degree of analogy achieved because the intact joints of the human skeleton are covered by soft tissue that has not been part of the skeletal analogy implemented. Additionally, it is postulated that there are subtleties to human movement which are not reflected in standard anthropometric measures. Therefore, a two stage evaluation has been undertaken that assesses the quality of the analogy realised in the models. This consists of goniometric measures to quantify basic angular rotations whilst qualitative evaluations by professionals with a good anatomical knowledge have been used to assess the more subtle movements within the joints. The skeletal mechanical analogy developed through this research has been shown through evaluation to simulate the articulations of the human upper-limb. The model embodies design principles that appear to have short and long term significance to the field of prosthetics. The production of a tangible model has not only aided evaluation but has also stimulated research in other centres into ways of actuating and controlling a future upper-limb prosthesis. Additionally, the mechanical analogy may have applications in the field of telepresence robotics, aerospace and the entertainment industry.
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Favieiro, Gabriela Winkler. "Desenvolvimento de um sistema neuro-fuzzi para análise de sinais mioelétricos do segmento mão-braço." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2012. http://hdl.handle.net/10183/71568.
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Pesquisas científicas no campo da engenharia de reabilitação estão proporcionando cada vez mais mecanismos que visam ajudar pessoas portadoras de alguma deficiência física a executar tarefas simples do dia-a-dia. Com isso em mente, esse trabalho tem a finalidade de desenvolver um sistema que utiliza sinais musculares e redes neuro-fuzzy para a caracterização de determinados movimentos de um braço humano, com o objetivo de possibilitar futuramente a integração em sistemas de reabilitação. Ensaios preliminares demonstraram que para a caracterização de movimentos simples realizados por um braço humano, o uso exclusivo de técnicas simples de processamento de sinal é suficiente, como a utilização do valor rms. No entanto, para a caracterização de movimentos complexos é necessário um processamento mais robusto do sinal. Para isso foi desenvolvido um sistema experimental que adquire, através de um eletromiógrafo (EMG) de 8 canais, o sinal mioelétrico com eletrodos de superfície posicionados em lugares estratégicos do braço. O sinal é adquirido utilizando como estímulo um modelo virtual que demonstra ao usuário os movimentos do segmento mão-braço que devem ser executados de forma aleatória. Finalmente, com o uso de uma rede neuro-fuzzy, que possibilita a distinção tanto de movimentos simples como de movimentos compostos, se adaptando a diferentes usuários, os movimentos executados foram caracterizados em 12 movimentos distintos, previamente definidos, com uma taxa de acerto médio de 65%.The scientific researches in the field of rehabilitation engineering are increasingly providing mechanisms to help people with a disability to perform simple tasks of day-to-day. With that in mind, this work aims to develop an experimental robotic prosthesis in order to implement, in the same, a control system that uses muscle signals and neuro-fuzzy networks for characterization of certain movements of a human arm, in order to enable further integration in rehabilitation systems. Preliminary tests showed that for the characterization of simple movements performed by a human arm, the exclusive use of simple techniques of signal processing is sufficient, as the use of the rms value. However, for the characterization of complex movements is required a more robust signal processing. For this was developed an experimental system that acquires through an electromyography (EMG) of 8 channels, the myoelectric signal with surface electrodes positioned in strategic places of the arm. The acquired signal uses, as a stimulus, a virtual model that demonstrates the hand-arm segment movements to be executed by the user at random. Finally, through a neuro-fuzzy network, which enables the distinction of both simple and compound movements, self-adapting to different users, the movements performed were characterized in 12 distinct movements, previously defined, with an average accuracy of 65%.
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Xavier, Ricardo Taoni [UNESP]. "Implementação de uma prótese ativa para membro superior de baixo custo." Universidade Estadual Paulista (UNESP), 2016. http://hdl.handle.net/11449/144525.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
Neste trabalho, descreve-se a implementação de uma prótese de mão biônica de baixo custo, constituída por um mecanismo com dezesseis graus de liberdade, cinco dedos articulados individualmente, acionados por tendões mecânicos. Sua estrutura foi fabricada em impressora 3D. Para o interfaceamento homem-máquina foi desenvolvido um shield, que realiza a aquisição de sinais eletromiográficos, com dois canais, armazenamento em cartão SD e um sistema eletrônico capaz de gerar um banco de dados com movimentos realizados pela mão humana. Foi utilizada a plataforma Arduino para processamento e programação. O sistema contém um aplicativo com protocolo de acionamento programável e inserção de movimentos, proporcionando independência ao usuário. Foram realizados testes nos quais o sistema implementado executou movimentos, após armazenar vários movimentos funcionais da mão. Isso foi possível devido ao desenvolvimento de um algoritmo capaz de reconhecer, quantificar e armazenar os sinais produzidos pelas contrações dos músculos. A prótese ativa implementada funcionou adequadamente para paciente com deformidade congênita e para paciente amputado. O valor total dos componentes mecânicos e eletrônicos necessários para implementar a prótese ativa e a utilização de hardwares e softwares livres contribuem para que o custo do dispositivo seja reduzido.
This paper describes the implementation a low cost hand prosthesis, a mechanism constituted by sixteen degrees of freedom, five articulated fingers individually, driven by mechanical tendons. Its structure was made in a 3D printer. For the man-machine interfacing, a shield was developed which performs the acquisition of electromyographic signals, with two channels, SD card storage and an electronic system able to generate a database of movements made by the human hand. The Arduino platform was used for processing and programming. The system contains an app with a programmable drive and insertion movements protocol, providing independence to the user. Tests were conducted in which the implemented system performed movements, after storing various functional hand movements. This was possible due to the development of an algorithm capable of recognizing, quantifying and storing the signals produced by muscle contractions. The implemented active prosthesis worked well for patients with congenital deformity and amputee. The total value of the mechanical and electronic components required to implement the active prosthesis and the use of free hardware and software contribute to the low cost of the device.
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Xavier, Ricardo Taoni. "Implementação de uma prótese ativa para membro superior de baixo custo /." Ilha Solteira, 2016. http://hdl.handle.net/11449/144525.
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Orientador: Aparecido Augusto de CarvalhoResumo: This paper describes the implementation a low cost hand prosthesis, a mechanism constituted by sixteen degrees of freedom, five articulated fingers individually, driven by mechanical tendons. Its structure was made in a 3D printer. For the man-machine interfacing, a shield was developed which performs the acquisition of electromyographic signals, with two channels, SD card storage and an electronic system able to generate a database of movements made by the human hand. The Arduino platform was used for processing and programming. The system contains an app with a programmable drive and insertion movements protocol, providing independence to the user. Tests were conducted in which the implemented system performed movements, after storing various functional hand movements. This was possible due to the development of an algorithm capable of recognizing, quantifying and storing the signals produced by muscle contractions. The implemented active prosthesis worked well for patients with congenital deformity and amputee. The total value of the mechanical and electronic components required to implement the active prosthesis and the use of free hardware and software contribute to the low cost of the device.
Mestre
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Augustus, Devon Patrick. "Navy SEAL Prosthetic Hand." DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/998.
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Prosthetic development recently has focused mainly on myoelectrically controlled electric hands despite a majority of upper extremity amputees actively choosing body powered devices. Myoelectric hands utilize a small electric pulse generated in muscles when flexing as a signal to the hand to close. Finger flexion in these devices is controlled by electromechanical servos, requiring no strength input from the user. Body powered devices use a cable attached to a shoulder harness which causes mechanical closure of the device via tension placed on a control cable by a shoulder shrug motion or arm extension. Outfitting of active duty service personnel has recently tended to follow the electronic hands which have fragile electronics, have a poor response to user input, and are not fit for harsh outdoor environments. This report will detail the current development of a re-design of a custom left hand prosthesis for an active duty Navy SEAL and the transition from electronic controls to full body power function.
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Burchietti, Francesco. "A novel artificial hand with adaptive prehensile-behaviour." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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In this thesis report it will be discussed the design of a novel hand prosthesis with an innovative finger mechanism that would be able to imitate the prehensile behaviour of the human hand during the manipulation of objects.
This artificial hand can act according to different strategies and trajectories during the manipulation of different types of objects, according to their size, shape and position in the environment. In any case, it is possible to distinguish two typical configurations for the manipu-lation of objects by the hand, namely a pinch action if the object is small (where the grabbing takes place by opposition of the index/middle fingers with the thumb) and a grasp action if the object has a relevant dimension if compared to the hand (where all the fingers of the hand will wrap around it, regardless of its particular shape, automatically adapting with a self-adaptive strategy)
Referring to the use of soft and under-actuated mechanisms, however, it is possible to create anyway some kind of valid and effective devices, finding a simple solution for the previous critical factors.
The aim of this work is therefore to propose a light and low-priced artificial mechanism that allows pinch and self-adaptive grasp in the same way, with the purpose to make the usage of the resulting artificial prosthesis as easy as possible for its final user regarding the prehensile purpose related to any type of object. For every characteristic of the target considered, the artificial hand can act in an adequate grasping strategy, despite the fact that the mechanism has a certain structure and that it is under-actuated.
For releasing that the use of compliant elements instead of rigid joints was chosen with an actuation mechanism through cables, with two small electric motors to drive the whole the prosthesis, thus making the final device simple, light, cheap and effective.
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Vidal, Tabata. "Concepção de proteses mioeletricos de membros superiores baseado no estudo fisiologico." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264737.
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Orientador: Helder Anibal HerminiDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: O objetivo deste trabalho foi revisar na literatura os desenvolvimentos da aplicação das tecnologias envolvidas em automação dedicadas às próteses mioelétricas de membros superiores, desde os primeiros trabalhos implementados no período pós-Segunda Guerra Mundial até as soluções tecnológicas atualmente utilizadas. O conceito de prótese mioelétrica envolve a aquisição e tratamento do sinal mioelétrico de um membro residual que é usado para acionar um atuador que ativará a ferramenta terminal. Objetivando a elaboração de uma solução compatível e aplicável harmonicamente ao sistema orgânico, foram realizados estudos da anatomia, da fisiologia articular dos membros superiores, da natureza e características do sinal mioelétrico, além das tecnologias envolvidas para a concepção de protótipos mecatrônicos, tais como técnicas de CAD-CAE-CAM e a geração de circuitos eletrônicos dedicados à coleta e tratamento de sinais mioelétricos. Para validar o desenvolvimento teórico, três protótipos da ferramenta terminal foram confeccionados, sendo testados em nível de bancada
Abstract: The goal of this work was to review the specialized literature for the development of technological applications connected with automation of myoelectrical prosthesis of upper limbs throughout the years, from World War 2 post-war solutions to the technology currently applied. The concept of myoelectrical prosthesis presupposes implies the acquisition and treatment of the myoelectrical signal of a residual limb which is used to start an actuator, which in turn activates the terminal tool. Aiming at encountering a solution that could be both compatible and harmoniously applicable to the human body, the author engaged in studying anatomy, upper limbs articular physiology, the nature and characteristics of the myoelectrical signal in addition to the technologies utilized to conceive mechatronic prototypes, i.e. CAD-CAE-CAM and the creation of dedicated electronic circuits to collect and process the myoelectrical signals. To validate the theoretical foundation of this project, three prototypes of terminal tools were manufactured and bench-tested.
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Maia, Bruno Alves. "Parametrização dimensional, por modelo de regressão, de próteses de mão para crianças, confeccionadas por manufatura aditiva." Universidade Federal de Goiás, 2016. http://repositorio.bc.ufg.br/tede/handle/tede/6855.
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The use of artificial limbs provides great improvements in the quality of life of people who were born with malformation or have lost their upper limbs. However, the value of conventional prostheses is not accessible to the majority of the population. In order to change this reality, began to emerge projects using additive manufacturing. The use of such technology allows the manufacture of more accessible and customized prostheses. However, the adequacy of project design is still a problem, due to the lack of data on the size of the upper limbs, especially on children and adolescents. Based on this need, this work seeks to find a way to parameterize the hand dimensions, thus helping in the better dimensioning of the prostheses. Thus, this work looks for a variable that presents satisfactory correlation with the dimensions of the upper limb. After finding such a relationship, a table and a parametric model were created that can estimate the length of the hand from the height.
A utilização de membros artificiais proporciona grandes melhorias na qualidade de vida de pessoas que nasceram com malformação ou perderam os membros superiores. No entanto, o valor das próteses convencionais não é acessível à maioria da população. Com o objetivo de modificar essa realidade, começaram a surgir projetos utilizando a manufatura aditiva. O emprego de tal tecnologia, permite a confecção de próteses mais acessíveis e customizadas. Porém, o dimensionamento adequado dos projetos ainda é um problema, devido à falta de dados relativos ao tamanho dos membros superiores, principalmente sobre crianças e adolescentes. Com base nessa necessidade, este trabalho busca encontrar uma forma de parametrizar as dimensões da mão, auxiliando assim no melhor dimensionamento das próteses. Sendo assim, este trabalho procura uma variável que apresenta correlação satisfatória com as dimensões do membro superior. Após encontrar tal relação, foram criados uma tabela e um modelo paramétrico que conseguem estimar o comprimento da mão a partir da estatura.
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Mehdian, Mehrdad. "Tactile sensing for automata and prosthesis." Thesis, University of Greenwich, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.280490.
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Krasoulis, Agamemnon. "Machine learning-based dexterous control of hand prostheses." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/31213.
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Upper-limb myoelectric prostheses are controlled by muscle activity information recorded on the skin surface using electromyography (EMG). Intuitive prosthetic control can be achieved by deploying statistical and machine learning (ML) tools to decipher the user's movement intent from EMG signals. This thesis proposes various means of advancing the capabilities of non-invasive, ML-based control of myoelectric hand prostheses. Two main directions are explored, namely classification-based hand grip selection and proportional finger position control using regression methods. Several practical aspects are considered with the aim of maximising the clinical impact of the proposed methodologies, which are evaluated with offline analyses as well as real-time experiments involving both able-bodied and transradial amputee participants. It has been generally accepted that the EMG signal may not always be a reliable source of control information for prostheses, mainly due to its stochastic and non-stationary properties. One particular issue associated with the use of surface EMG signals for upper-extremity myoelectric control is the limb position effect, which is related to the lack of decoding generalisation under novel arm postures. To address this challenge, it is proposed to make concurrent use of EMG sensors and inertial measurement units (IMUs). It is demonstrated this can lead to a significant improvement in both classification accuracy (CA) and real-time prosthetic control performance. Additionally, the relationship between surface EMG and inertial measurements is investigated and it is found that these modalities are partially related due to reflecting different manifestations of the same underlying phenomenon, that is, the muscular activity. In the field of upper-limb myoelectric control, the linear discriminant analysis (LDA) classifier has arguably been the most popular choice for movement intent decoding. This is mainly attributable to its ease of implementation, low computational requirements, and acceptable decoding performance. Nevertheless, this particular method makes a strong fundamental assumption, that is, data observations from different classes share a common covariance structure. Although this assumption may often be violated in practice, it has been found that the performance of the method is comparable to that of more sophisticated algorithms. In this thesis, it is proposed to remove this assumption by making use of general class-conditional Gaussian models and appropriate regularisation to avoid overfitting issues. By performing an exhaustive analysis on benchmark datasets, it is demonstrated that the proposed approach based on regularised discriminant analysis (RDA) can offer an impressive increase in decoding accuracy. By combining the use of RDA classification with a novel confidence-based rejection policy that intends to minimise the rate of unintended hand motions, it is shown that it is feasible to attain robust myoelectric grip control of a prosthetic hand by making use of a single pair of surface EMG-IMU sensors. Most present-day commercial prosthetic hands offer the mechanical abilities to support individual digit control; however, classification-based methods can only produce pre-defined grip patterns, a feature which results in prosthesis under-actuation. Although classification-based grip control can provide a great advantage over conventional strategies, it is far from being intuitive and natural to the user. A potential way of approaching the level of dexterity enjoyed by the human hand is via continuous and individual control of multiple joints. To this end, an exhaustive analysis is performed on the feasibility of reconstructing multidimensional hand joint angles from surface EMG signals. A supervised method based on the eigenvalue formulation of multiple linear regression (MLR) is then proposed to simultaneously reduce the dimensionality of input and output variables and its performance is compared to that of typically used unsupervised methods, which may produce suboptimal results in this context. An experimental paradigm is finally designed to evaluate the efficacy of the proposed finger position control scheme during real-time prosthesis use. This thesis provides insight into the capacity of deploying a range of computational methods for non-invasive myoelectric control. It contributes towards developing intuitive interfaces for dexterous control of multi-articulated prosthetic hands by transradial amputees.
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Estelle, Stephen. "Optimizing 3D Printed Prosthetic Hand and Simulator." Digital Commons at Loyola Marymount University and Loyola Law School, 2019. https://digitalcommons.lmu.edu/etd/661.
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The purpose of this study is to examine the position and use of an upper extremity prosthetic simulator on non-amputees. To see how a 3D printed prosthetic simulator can be optimized to serve the user correctly and accurately. In addition, this study examines the improvement of the Hosmer 5X Prosthetic Hook with the addition of newly designed trusses on to the prosthetic, as well as utilizing a new manufacturing method known as 3D printing. These topics are important because there is no standardized prosthetic simulator for schools and research facilities to use. Off the shelf prosthetic simulator cost upwards of $2000, often too expensive for early stage research. By optimizing the Hosmer 5X Prosthetic Hook with 3D printing, this new opportunity could allow amputees, from a range of income classes, to have access to a wide variety of prosthetics that are strong enough to support everyday living activities. A low-cost prosthetic that is easily distributable and accessible can give people a chance to regain their independence by giving them different options of efficient prosthetic devices, without having to spend so much. The devices in this project were design and analyzed on SOLIDWORKS, 3D scanned on the Artec Space Spider, and surfaced on Geomagic Wrap. Key results include developing a low-cost, robust prosthetic simulator capable of operating a Hosmer 5X Prosthetic hook, as well as developing a lighter version of the Hosmer 5X Prosthetic Hook that is more cost efficient and easily obtainable to the population around the world.
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Parming, Jacob, and Aram Ghaiad. "Development of an electromyographic smart prosthetic hand." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-41263.
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Losing a hand is a highly traumatic experience affecting both the physical life and mental wellbeing of a person. It is therefore vital to provide a prosthetic hand with similar functionality to the hand lost. The human hand is a very delicate and complex part of the body used every day in a wide range of tasks from performing heavier works to smaller gestures. Due to all factors playing arole in how amputees live their lives, recreating a human hand is a very demanding and challenging task. As many as 30% of amputees experience depression and/or anxiety as a result of not having the same capabilities and opportunities as before the amputation. Amputation may be carried out both due to sudden accidents and as a result of congenital defiances and vascular illnesses. Since advanced prosthetic hands often come in at a price too high to reach a large part of the amputee consumer base, the case is often that only the richest amputees are able to afford electric prosthetic devices, and are thus often limited to simpler, body-powered alternatives. These alternatives are often found to be lacking in features and resemblance when comparing to the more technologically advanced electric prosthetics. A set of product development tools and methods were selected for the development process to ensure an organized approach for the project. The project was concluded with a finished and fully-manufacturable prosthetic hand with some advantages compared to the current market products. The hand developed in the project, named OYMotion hand 1.0 proved to have a number of advantages over competing products in selected functional areas such as force, finger speed and weight. The final market price of the product could not be estimated due to the fact that there are too many unknown factors involved to determine a final market price on the hand. The production cost is, however estimated to be significantly lower than the measured competing prosthetic hands. A deepened understanding about prosthetic hand design and development was obtained by studying the market, EMG, machine learning applications, hardware, gears, finger mechanisms,and materials. By balancing concepts between cost, functionality and aesthetics, a structured reasoning couldbe used to prioritize certain aspects of the developing of the hand.The completed hand fulfills the required specifications and functions after undergoing anumber of analyses conducted in order verify material strength and mechanism functionality.Further grip strength analyses and calculations were excluded from the study due to the limitedavailable time given.
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Ray, Zachary J. "Hand Orientation Feedback for Grasped Object Slip Prevention with a Prosthetic Hand." University of Akron / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1461181998.
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Tenim, Severin. "Design of an affordable anthropomorphic mechanical prosthetic hand." Master's thesis, University of Cape Town, 2014. http://hdl.handle.net/11427/13280.
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Includes bibliographical references.This dissertation outlines the conceptualisation, design, manufacture, assembly and experimental testing of an affordable anthropomorphic mechanical hand prosthesis. In many countries, upper-limb amputees lack access to prosthetic hand devices. Furthermore, currently available mechanical devices require a large amount of effort to actuate; fatiguing and frustrating patients who have no other alternative but to use them. Consequently, a need has arisen to provide a mechanical device that is affordable enough to be accessible to low and middle-income patients, is functional enough to allow users to easily perform their Activities of Daily Living (ADLs), and is aesthetically appealing enough to ensure that patients feel comfortable and confident when wearing it. Concept solutions of several mechanisms were identified and evaluated from which the final design was selected. Analytical force analysis was used to generate a mathematical model to analyse the response of each dynamic member in the hand. A linear relationship between the input-force and applied grasp-forces of the hand was identified. Finite Element Analysis (FEA) used to investigate the lateral and hyperextensive loading limits of the phalanges, generated results that corresponded well to the experimental outcomes. Amongst the utilised actuation mechanisms (levers, pulleys, tendon-wires, bearings and springs), the tendon-wires were of concern due to their repetitive tensile loading and relative movement with the phalanges. Tensile testing of various tendon-wires and endurance testing of the phalangeal tendon-channels, yielded a combination which surpassed the infinite life requirement of 1,200,000 loading cycles; with carbon-nylon contact wearing at the lowest rate as confirmed by gravimetric tests in accordance with ASTM F2025 (2000). Manufacture of the hand used rapid prototyping in combination with traditional machining methods and standard components, enabling a fully-assembled cost of R 11,628.37; below the required R 18,000 limit. Various power and precision grasping configurations were achieved and the contact forces satisfactorily maintained, using the hand’s built-in locking mechanism. Feedback gathered from the prosthetist and patients suggested making slight alterations to the hand’s aesthetics and to address minor functional challenges, such as the control of the closing trajectory for precision grasps.
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Garrett, Scott James. "Development of an Open Source Prosthetic Hand Platform." DigitalCommons@CalPoly, 2011. https://digitalcommons.calpoly.edu/theses/573.
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Development of an Open Source Prosthetic Hand Platform
Scott Garrett
In the field of upper extremity prosthetic devices, advancements in technology drive the design of products which are becoming capable of restoring the lost functions of the native hand. While several dexterous devices have been developed to serve this purpose, they remain prohibitively expensive and thus are not a viable option for many upper extremity amputees. To address this problem a prosthetic hand platform was developed utilizing the open source Arduino microcontroller and off-the-shelf electrical components. Using these resources, a novel finger actuation mechanism was developed to show how a prosthetic hand platform could be developed which is capable of individual finger actuation, multiple actuation modes, sensing of forces at the individual fingers, providing force feedback to the user, and control of finger actuation through a variety of control inputs.
After going through several iterations of hand’s mechanical components, electronics, and firmware a final prototype was built to showcase the possible capabilities of the open source prosthetic hand platform. This prototype consisted of several groups of subcomponents including an auto-flexing / extending finger design, a modular palm/ servo attachment base, and a wrist section which housed the hand’s electronic components, power supplies, force feedback system.
The open source prosthetic hand platform was then verified using a series of tests to quantify several performance characteristics of the final prototype. Battery life and grip strength during continuous use were evaluated and demonstrated that the hand could provide consistent grip force during up two hours of initial continuous use. Also, the grip performance of the hand was assessed through the grasping of spherical objects with varying surface textures, diameter, and weight. Furthermore the hand was tested in various “real life” applications including manipulating and sorting small objects, opening doors, grasping moderately heavy objects such as water bottles, and sensitive objects such as an egg. Lastly, the platform was connected to a myoelectric input circuit to demonstrate compatibility with advanced electro-physical inputs. These tests demonstrated that the platform was capable of performing some of the dexterous tasks performed by prohibitively expensive available robotic upper extremity prosthetic devices.
Further developments could be made to the open source prosthetic hand platform including enhancements to the platform’s finger force sensing and feedback mechanisms, consolidation of the electronics, refinement of the auto-flexing / extending fingers, and integration with a silicone covering and patients residual limb socket. These future iterations of this platform could help provide a dexterous prosthetic hand platform at lower cost to a wider patient base.
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Hardell, Felix, and Jonas Tjomsland. "Motorized tensioner systemfor prosthetic hands." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230144.
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Modern research in prosthetic devices and other assistivetechnologies are constantly pushing boundaries. Whilethe technology is impressive, it is still inaccessible for thegreater part of the people in need of it. Advanced devicesare often extremely expensive and require regularly maintenancefrom professionals. Enabling the Future is a globalnetwork of volunteers and was founded to face these problems.They design and 3D-print mechanical prosthetics forpeople in need all over the world.Most of the designs used by Enabling the Future are purelymechanical and do not implement motors. The purposeof this thesis was to take a new approach to the designand construction of low-cost motorized prosthetic hands.By distancing all the electronic components from the hand,including the motor, the project aimed to create a devicecompatible with all current designs of the Enabling the Futurecommunity.To conceptualize this approach a demonstrator was constructedand tested. It utilized a muscle sensor which allowedusers to control the hand by tightening their muscles.The distance between the electronic components andthe prosthetic hand measured approximately one and a halfmeters and still transfered enough force, from the motor tothe hand, to deliver an adequate grip strength.Modern forskning inom protestillverkning och andrahandikapphjälpmedel gör kontinuerligt stora framsteg. Trotsatt tekniken är imponerade är den fortfarande otillgängligför den största del människor som behöver den. Avanceradehjälpmedel är ofta extremt dyra och kräver kontinuerligtunderhåll från yrkesverksamma. Enabling the Future,ett globalt nätverk av volontärer, grundades för att utmanadessa problem. De konstruerar och tillverkar 3D-skrivnamekaniska proteser för människor med behov över hela världen.De flesta konstruktioner som används av Enabling the Futureär helt mekaniska och använder inga motorer. Syftetmed detta kandidatexamensarbete var att med nya tillvägagångssättkonstruera en billig motoriserad handprotes.Genom att placera all elektronik på en distans från handen,inklusive motorn själv, var tanken att skapa ett systemsom är kompatibelt med de konstruktioner som Enablingthe Future använder.För att förverkliga detta konstruerades en prototyp somtestats. Prototypen använde sig av en muskelsensor somlät användaren kontrollera proteshanden genom att spännasin arm. Distansen mellan de elektriska komponenternaoch protesen var ungefär en och en halv meter, samtidigtsom tillräckligt stor kraft kunde transporteras för att stängahanden med ett tillräckligt grepp.
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Tjomsland, Jonas, and Felix Hardell. "Motorized tensioner systemfor prosthetic hands." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-232970.
Full textAbstract:
Modern research in prosthetic devices and other assistive technologies are constantly pushing boundaries. While the technology is impressive, it is still inaccessible for the greater part of the people in need of it. Advanced devices are often extremely expensive and require regularly maintenance from professionals. Enabling the Future is a global network of volunteers and was founded to face these problems. They design and 3D-print mechanical prosthetics for people in need all over the world. Most of the designs used by Enabling the Future are purely mechanical and do not implement motors. The purpose of this thesis was to take a new approach to the design and construction of low-cost motorized prosthetic hands. By distancing all the electronic components from the hand, including the motor, the project aimed to create a device compatible with all current designs of the Enabling the Future community. To conceptualize this approach a demonstrator was constructed and tested. It utilized a muscle sensor which allowed users to control the hand by tightening their muscles. The distance between the electronic components and the prosthetic hand measured approximately one and a half meters and still transfered enough force, from the motor to the hand, to deliver an adequate grip strength.Modern forskning inom protestillverkning och andra handikapphjälpmedel gör kontinuerligt stora framsteg. Trots att tekniken är imponerade är den fortfarande otillgänglig för den största del människor som behöver den. Avancerade hjälpmedel är ofta extremt dyra och kräver kontinuerligt underhåll från yrkesverksamma. Enabling the Future, ett globalt nätverk av volontärer, grundades för att utmana dessa problem. De konstruerar och tillverkar 3D-skrivna mekaniska proteser för människor med behov över hela världen. De flesta konstruktioner som används av Enabling the Future är helt mekaniska och använder inga motorer. Syftet med detta kandidatexamensarbete var att med nya tillvägagångssätt konstruera en billig motoriserad handprotes. Genom att placera all elektronik på en distans från handen, inklusive motorn själv, var tanken att skapa ett system som är kompatibelt med de konstruktioner som Enabling the Future använder. För att förverkliga detta konstruerades en prototyp som testats. Prototypen använde sig av en muskelsensor som lät användaren kontrollera proteshanden genom att spänna sin arm. Distansen mellan de elektriska komponenterna och protesen var ungefär en och en halv meter, samtidigt som tillräckligt stor kraft kunde transporteras för att stänga handen med ett tillräckligt grepp.
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Cotton, Darryl Paul James. "Thick-film piezoelectric slip sensors for a prosthetic hand." Thesis, University of Southampton, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.444223.
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Kotze, Johan. "A concept model for a multi-fingered prosthetic hand." Master's thesis, University of Cape Town, 1997. http://hdl.handle.net/11427/9500.
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Bibliography: p. 137-139.The various attempts by individuals to replace the hand has led to some ingenious and practical designs, but if compared to the real hand these designs are still light years behind. Till recently the most functional prostheses developed were body powered because of the simple, light weight designs. The designs for these hands have not changed must in the last few decades indicating that the design has reached its functional limit. This and the latest technology have initiated designers ' renewed interest in externally powered prostheses. Existing externally powered hands only have one degree of freedom which limits the function of hands considerably whereas practical multi-fingered hands would provide a new dimension to the functionality of prosthetic hands. For this project a concept model for a multi-fingered prosthetic hand was developed using Lego as design medium. The objective was to develop and test mechanisms as well as control strategies which can be used in a real prosthetic hand. A proper study of the human hand was done to determine its basic anatomy as well as its functioning. An extensive literature study on prosthetic and robotic hands was also done to evaluate existing designs and determine the level of existing technology. Special emphasis was laid on the anatomical design of the human hand which led to a model with a unique design. The model incorporates a tendon driven finger mechanism instead of the traditional linkage systems. This design provides an adaptable closing finger trajectory providing better grip. The model also provide actuation to all five fingers contrary to the three fingers of existing hands. This is achieved by a simple differential mechanism driving the last three fingers semi-independently with one actuator. The model also provides abduction of all fingers as well as opposition of the thumb improving the hands versatility. The hand is controlled using a personal computer and two interface boxes. Software was developed in Visual Basic to provide the user with a control analogue to that of a real myoelectric prosthesis.
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Lau, Beng Guey. "An intelligent prosthetic hand using hybrid actuation and myoelectric control." Thesis, University of Leeds, 2009. http://etheses.whiterose.ac.uk/852/.
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This thesis details the design and development of an intelligent prosthetic hand based on hybrid DC and Shape Memory Alloy (SMA) actuation and controlled by only two myoelectric sensors. A prosthesis as a tool makes no pretence of trying to replace the lost limb physiologically but it works as an aid to help provide some of the lost functions and is an interchangeable device worn and used as needed. Much research has been carried out to develop artificial prosthetic hands with capabilities similar to the human hand. The human hand is a very complex grasping tool, that can handle objects of different size, weight and shape; however, they are far from providing its manipulation capabilities. This is for many different reasons, such as active bending is limited to two or three joints and user-unfriendliness. These limitations are present in commercial prosthetic hands, together with others always complained about by patients and amputees, such as inability to provide enough grasping functionality and heavy weight. Several robotic and anthropomorphic hands may have sufficient active degrees of freedom to allow dexterity comparable to that of the human hand. Unfortunately, they cannot be used as prostheses due to their physical characteristic that poses several serious limitations on human-hand interaction. Hence, the motivation for this research is to investigate the use of a hybrid actuation mechanism in the design and development of an intelligent prosthetic hand. This work highlights user-friendliness and involves a proper mechanical design with more active degrees of freedom and incorporating an intelligent control system. A system with a finger prototype is considered. Testing through simulation and physical models reveals a number of limitations. A hybrid actuation system, to increase the finger active degrees of freedom is therefore developed, with a mechanism consisting of DC and SMA actuators. Besides, only two myoelectrodes channels (enhancing the user-friendliness of the device) are used for the system control input signal. Two novel features are developed in the new prosthetic hand. Firstly, its hybrid actuation mechanism has the advantage of increasing the active degrees of freedom; secondly, using only two myoelectric sensors has potential for controlling more than three patterns of fingers movements. By using artificial neural network patterns classification technique, three and five patterns of wrist joint movement corresponding to finger movement can be recognised as more than 85% correct and furthermore, seven as 70% correct.
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Hettiarachchi, Nalinda. "Ultrasound sensing and hand gesture recognition for dexterous prosthetic devices." Thesis, University of Portsmouth, 2015. https://researchportal.port.ac.uk/portal/en/theses/ultrasound-sensing-and-hand-gesture-recognition-for-dexterous-prosthetic-devices(49b19d46-651e-4b6c-add1-7b668cb9f3a2).html.
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Traditional myoelectricity-based systems have inherent limitations and weaknesses to control dexterous prosthesis. The gap lies not in the methodologies that already extensively researched, but the means of signal extraction from the forearm. This thesis has explored and successfully tackled the practical control problems of dexterous prostheses using Sonomyography (SMG). Two hypotheses were made and supported by relevant literature to highlight the type of contraction that relevant to the amputees. The relevance of Fatigue-less Maximum Isotonic Contraction (FLMIC) phase is highlighted in SMG with experimental data. A novel wearable and portable SMG capturing system is presented with performances on a par with myoelectric methods. The Quasi-radial construction of the ultrasound transducer array allows reading A-mode signals from both anterior and posterior compartments of the forearm. The arrays comprised of transducers which are purpose designed to meet the requirements. The experiments with amputee and healthy subjects revealed that comparable gesture recognition accuracies can be achieved. Proportional control of prosthesis is a noted problem. Since the majority of morphological changes occur in isotonic or dynamic region, the tension produced by the muscle is low. Contrary to sEMG, where it requires a significant motor unit activation, a low level muscle activation is enough to provide proportional control using sonomyography. This phenomenon is investigated in this thesis. The cross correlation method has been employed to recognize gestures between test and training sets. The experimental results demonstrated the ability to utilize the system in underwater without significantly compromising the performance. The experiment also demonstrated that the effectiveness of oil based coupling medium in such conditions. In this study a novel wearable ultrasound hardware is presented with evidence to prove its comparable performances with myoelectric systems.
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Saunders, Ian. "Closed-loop prosthetic hand : understanding sensorimotor and multisensory integration under uncertainty." Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/9516.
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To make sense of our unpredictable world, humans use sensory information streaming through billions of peripheral neurons. Uncertainty and ambiguity plague each sensory stream, yet remarkably our perception of the world is seamless, robust and often optimal in the sense of minimising perceptual variability. Moreover, humans have a remarkable capacity for dexterous manipulation. Initiation of precise motor actions under uncertainty requires awareness of not only the statistics of our environment but also the reliability of our sensory and motor apparatus. What happens when our sensory and motor systems are disrupted? Upper-limb amputees tted with a state-of-the-art prostheses must learn to both control and make sense of their robotic replacement limb. Tactile feedback is not a standard feature of these open-loop limbs, fundamentally limiting the degree of rehabilitation. This thesis introduces a modular closed-loop upper-limb prosthesis, a modified Touch Bionics ilimb hand with a custom-built linear vibrotactile feedback array. To understand the utility of the feedback system in the presence of multisensory and sensorimotor influences, three fundamental open questions were addressed: (i) What are the mechanisms by which subjects compute sensory uncertainty? (ii) Do subjects integrate an artificial modality with visual feedback as a function of sensory uncertainty? (iii) What are the influences of open-loop and closed-loop uncertainty on prosthesis control? To optimally handle uncertainty in the environment people must acquire estimates of the mean and uncertainty of sensory cues over time. A novel visual tracking experiment was developed in order to explore the processes by which people acquire these statistical estimators. Subjects were required to simultaneously report their evolving estimate of the mean and uncertainty of visual stimuli over time. This revealed that subjects could accumulate noisy evidence over the course of a trial to form an optimal continuous estimate of the mean, hindered only by natural kinematic constraints. Although subjects had explicit access to a measure of their continuous objective uncertainty, acquired from sensory information available within a trial, this was limited by a conservative margin for error. In the Bayesian framework, sensory evidence (from multiple sensory cues) and prior beliefs (knowledge of the statistics of sensory cues) are combined to form a posterior estimate of the state of the world. Multiple studies have revealed that humans behave as optimal Bayesian observers when making binary decisions in forced-choice tasks. In this thesis these results were extended to a continuous spatial localisation task. Subjects could rapidly accumulate evidence presented via vibrotactile feedback (an artificial modality ), and integrate it with visual feedback. The weight attributed to each sensory modality was chosen so as to minimise the overall objective uncertainty. Since subjects were able to combine multiple sources of sensory information with respect to their sensory uncertainties, it was hypothesised that vibrotactile feedback would benefit prosthesis wearers in the presence of either sensory or motor uncertainty. The closed-loop prosthesis served as a novel manipulandum to examine the role of feed-forward and feed-back mechanisms for prosthesis control, known to be required for successful object manipulation in healthy humans. Subjects formed economical grasps in idealised (noise-free) conditions and this was maintained even when visual, tactile and both sources of feedback were removed. However, when uncertainty was introduced into the hand controller, performance degraded significantly in the absence of visual or tactile feedback. These results reveal the complementary nature of feed-forward and feed-back processes in simulated prosthesis wearers, and highlight the importance of tactile feedback for control of a prosthesis.
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Fang, Yinfeng. "Interacting with prosthetic hands via electromyography signals." Thesis, University of Portsmouth, 2015. https://researchportal.port.ac.uk/portal/en/theses/interacting-with-prosthetic-hands-via-electromyography-signals(a1a08ee8-6337-416b-a955-0ff9737beb56).html.
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It is a challenge to provide robust electromyographic signals or patterns for prosthetic hand systems. This thesis proposes a comprehensive methodology to address the challenge with respect to surface electromyographic signal acquisition, electrode layouts, electromyographic features and user training strategies. A multi-channel surface electromyography acquisition platform is customised to conduct researches throughout this thesis. First of all, a zig electrode layout is proposed to provide more repeatable electromyographic signals. This electrode layout is instantiated into an electrode sleeve, which is specially presented to fix the electrodes on the forearm and acquire forearm muscular activities. Our experiments prove that zig electrode layout has better electromyographic signal repeatability than conventional parallel electrode layout in different tests. Secondly, this thesis establishes a bridge connecting forearm muscles’ functions and multi-channel electromyographic signals by means of electromyographic map and magnitude-angle feature. The electromyographic map is proposed to explore how channels of electromyographic signals correspond to individual forearm muscles. In order to understand hand motion physiological principles, magnitude-angle feature is presented to identify the most active muscles during hand motions. Thirdly, to enhance patients’ ability in generating intuitive prosthetic control commands, a training strategy based on visual trajectory feedback is proposed. In the training procedure, users are able to adjust themselves according to classifier feedback. This training procedure can significantly improve patients’s ability in generating repeatable electromyographic pattern, no matter the feedback information is able or disable.
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Parkhomenko, Y. Y. "Bionic hand that can feel." Thesis, Сумський державний університет, 2013. http://essuir.sumdu.edu.ua/handle/123456789/33787.
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Those who have lost a limb such as a hand have long had the option of using a prosthetic to restore some lost functionality. Studies have shown that as many as 50 percent of prosthetic wearers rarely use them due to appearance and poor controllability.
A new breakthrough in prosthesis has delivered a bionic hand that is capable of feeling just like the organic limb it replaces.
When you are citing the document, use the following link http://essuir.sumdu.edu.ua/handle/123456789/33787
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Christian, Matthew. "Improving Motor Skills of a Smart Prosthetic Hand by Deep Learning." Thesis, Tennessee State University, 2019. http://pqdtopen.proquest.com/#viewpdf?dispub=10979821.
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Medical science has made it possible to use prosthetic devices to restore the basic abilities needed to function in everyday life. Although robotic prosthetic hands can improve mobility over a simple hook prosthetic, the current state-of-the-art devices are still limited in their ability to grasp and hold objects as quickly and as accurately as the natural human hand. This project trains a deep learning neural network to control a robotic prosthetic hand in performing a grasping task.
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Hasan, Md Rakibul. "Modelling and interactional control of a multi-fingered robotic hand for grasping and manipulation." Thesis, Queen Mary, University of London, 2014. http://qmro.qmul.ac.uk/xmlui/handle/123456789/8941.
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In this thesis, the synthesis of a grasping and manipulation controller of the Barrett hand, which is an archetypal example of a multi-fingered robotic hand, is investigated in some detail. This synthesis involves not only the dynamic modelling of the robotic hand but also the control of the joint and workspace dynamics as well as the interaction of the hand with object it is grasping and the environment it is operating in. Grasping and manipulation of an object by a robotic hand is always challenging due to the uncertainties, associated with non-linearities of the robot dynamics, unknown location and stiffness parameters of the objects which are not structured in any sense and unknown contact mechanics during the interaction of the hand’s fingers and the object. To address these challenges, the fundamental task is to establish the mathematical model of the robot hand, model the body dynamics of the object and establish the contact mechanics between the hand and the object. A Lagrangian based mathematical model of the Barrett hand is developed for controller implementation. A physical SimMechanics based model of the Barrett hand is also developed in MATLAB/Simulink environment. A computed torque controller and an adaptive sliding model controller are designed for the hand and their performance is assessed both in the joint space and in the workspace. Stability analysis of the controllers are carried out before developing the control laws. The higher order sliding model controllers are developed for the position control assuming that the uncertainties are in place. Also, this controllers enhance the performance by reducing chattering of the control torques applied to the robot hand. A contact model is developed for the Barrett hand as its fingers grasp the object in the operating environment. The contact forces during the simulation of the interaction of the fingers with the object were monitored, for objects with different stiffness values. Position and force based impedance controllers are developed to optimise the contact force. To deal with the unknown stiffness of the environment, adaptation is implemented by identifying the impedance. An evolutionary algorithm is also used to estimate the desired impedance parameters of the dynamics of the coupled robot and compliant object. A Newton-Euler based model is developed for the rigid object body. A grasp map and a hand Jacobian are defined for the Barrett hand grasping an object. A fixed contact model with friction is considered for the grasping and the manipulation control. The compliant dynamics of Barrett hand and object is developed and the control problem is defined in terms of the contact force. An adaptive control framework is developed and implemented for different grasps and manipulation trajectories of the Barrett hand. The adaptive controller is developed in two stages: first, the unknown robot and object dynamics are estimated and second, the contact force is computed from the estimated dynamics. The stability of the controllers is ensured by applying Lyapunov’s direct method.
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Ma'touq, Jumana [Verfasser]. "Human hand neuromechanics for the design of robotic intelligent upper limb prostheses / Jumana Ma'touq." Hannover : Gottfried Wilhelm Leibniz Universität Hannover, 2019. http://d-nb.info/1198398698/34.
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Scholes, Susan Claire. "The tribology of hard bearing surfaces for use in hip prostheses." Thesis, Durham University, 1999. http://etheses.dur.ac.uk/1475/.
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Hu, Paul Xue Bang. "Development of a paediatric prosthetic hand with a two-degree-of-freedom thumb." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ28865.pdf.
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Al-Hajjar, Mazen. "Wear of hard-on-hard hip prostheses : influence of head size, surgical position, material and function." Thesis, University of Leeds, 2012. http://etheses.whiterose.ac.uk/3753/.
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Edge loading in hip replacement bearings may occur due to rotational and translational mal-positioning. Rotational mal-positioning is easier to detect clinically which include steep inclination angle and excessive version/anteversion angles. Translational mal-positioning encompasses micro-separation of the centres of rotations of the head and the cup and could occur due to several clinical reasons, such as head offset deficiency, medialised cup, stem subsidence, impingement, subluxation and laxity of the joint/ soft tissue. Microseparation conditions were validated on the Physiological Anatomical Leeds Mark II Hip Joint Simulator against retrievals and shown to replicate stripe wear, and wear debris seen in vivo. The present thesis is focused on understanding the wear mechanisms of different sized ceramicon- ceramic and metal-on-metal bearings under the different edge loading conditions and determining the contributions of rotational and translational mal-positioning to the increase in wear. The wear of ceramic-on-ceramic bearings did not increase due to rotational mal-positioning, however stripe wear and increase in wear rates occurred under translational mal-positioning conditions. On the other hand, the wear of metal-on-metal bearings was influenced by both rotational and translational mal-positioning with the latter having the more severe effect. There was clinically no difference in the wear of the 36mm bearings when compared to the 28mm bearings under translational mal-positioning conditions. However, with the larger bearings, edge loading due to rotational mal-positioning occurred at a steeper cup inclination angle. Edge loading caused severe wear features and roughening of the surface of metal-on-metal bearings with indications of increased corrosion rates. The new validated geometric measurement and analysis technique have helped determine the volumetric wear of ceramic and metal components and show three-dimensional representations of the wear areas, which could be applied for determining wear volumes and understanding wear features on retrieved explants. This thesis has emphasised the need for a more accurate surgical positioning and shown the necessity for testing hip replacement bearings under a wider range of clinical conditions that go beyond the current ISO standards. This should also include conditions which generate rotational and translational mal-positioning in vivo.
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Landry, John S. "Optimal fixed wrist alignment for below-elbow, powered, prosthetic hands." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0032/MQ65499.pdf.
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Dechev, Nikolai. "Design of a multi-fingered, passive adaptive grasp prosthetic hand, better function and cosmesis." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0002/MQ45616.pdf.
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