Improvements and optimization for a functional low-cost prosthetic hand
- Authors: Setty, Kiran
- Date: 2019
- Subjects: Biomechanics , Artificial limbs -- Design , Prosthesis -- Design
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/43655 , vital:36955
- Description: The following study investigates the work of the Touch Hand 4, which involves the development of a lowcost myoelectric prosthetic terminal hand device for transradial amputees. The Touch Hand 4 is an iteration of the Touch Hand project which attempts to make a functional, low-cost prosthetic hand which is capable of being accessible to more people relative to conventional myoelectric prosthetic hands as well as being used as a robotic UAV gripper. This research is motivated due to the lack of affordable myoelectric prosthetic hands in the global market. It is believed, with the current technology, it is capable of developing a prosthetic hand which can meet these needs. Research was performed through reviewing other prosthetic hands to understand the requirements for a prosthetic hand as well as understanding the market of prosthetic hands. Prosthetists were interviewed to obtain a perspective from medial professionals regarding the requirements for a prosthetic hand. Hand kinesiology was performed to understand the biomechanics of the human hand, which was emulated in the design of the Touch Hand 4. The mechanical design begun with developing and testing a concept design, which was used to design the general shape of the Touch Hand 4. SLS was chosen to print the prosthetic hand with. After performing a kinematics and static force simulation, the mechanical system was designed accordingly. Further research on EMG sensors was then performed to understand the requirements of using EMG signals to control a prosthetic hand. The electronics and control system were then designed according to the requirements of the prosthetic hand. Tests were performed, however, tests performed with an amputee using the device was affected to improper placement of the EMG sensors, leading to poor results. Tests performed without an amputee, however, showed that the prosthetic hand is capable of gripping various objects of different shapes and sizes. An investigation was also performed on the contributions the Touch Hand 4 could make as a UAV gripper, which showed that the Touch Hand 4 is more adaptable and versatile than any other UAV gripper available on the market.
- Full Text:
- Date Issued: 2019
- Authors: Setty, Kiran
- Date: 2019
- Subjects: Biomechanics , Artificial limbs -- Design , Prosthesis -- Design
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/43655 , vital:36955
- Description: The following study investigates the work of the Touch Hand 4, which involves the development of a lowcost myoelectric prosthetic terminal hand device for transradial amputees. The Touch Hand 4 is an iteration of the Touch Hand project which attempts to make a functional, low-cost prosthetic hand which is capable of being accessible to more people relative to conventional myoelectric prosthetic hands as well as being used as a robotic UAV gripper. This research is motivated due to the lack of affordable myoelectric prosthetic hands in the global market. It is believed, with the current technology, it is capable of developing a prosthetic hand which can meet these needs. Research was performed through reviewing other prosthetic hands to understand the requirements for a prosthetic hand as well as understanding the market of prosthetic hands. Prosthetists were interviewed to obtain a perspective from medial professionals regarding the requirements for a prosthetic hand. Hand kinesiology was performed to understand the biomechanics of the human hand, which was emulated in the design of the Touch Hand 4. The mechanical design begun with developing and testing a concept design, which was used to design the general shape of the Touch Hand 4. SLS was chosen to print the prosthetic hand with. After performing a kinematics and static force simulation, the mechanical system was designed accordingly. Further research on EMG sensors was then performed to understand the requirements of using EMG signals to control a prosthetic hand. The electronics and control system were then designed according to the requirements of the prosthetic hand. Tests were performed, however, tests performed with an amputee using the device was affected to improper placement of the EMG sensors, leading to poor results. Tests performed without an amputee, however, showed that the prosthetic hand is capable of gripping various objects of different shapes and sizes. An investigation was also performed on the contributions the Touch Hand 4 could make as a UAV gripper, which showed that the Touch Hand 4 is more adaptable and versatile than any other UAV gripper available on the market.
- Full Text:
- Date Issued: 2019
The effect of load and technique on biomechanical and perceptual responses during dynamic pushing and pulling
- Authors: Desai, Sheena Dhiksha
- Date: 2009
- Subjects: Work -- Physiological aspects , Biomechanics , Human engineering , Lifting and carrying
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:5109 , http://hdl.handle.net/10962/d1005187 , Work -- Physiological aspects , Biomechanics , Human engineering , Lifting and carrying
- Description: Changes in the industrial job profile, from lifting and lowering to repetitive dynamic pushing and pulling have been facilitated through the use of manual vehicles, aimed at minimising the workload. Yet, the demands of pushing and pulling have not been well documented. Using measures of the horizontal component of the hand forces, spinal kinematics, muscle activity at various sites on the upper body and body discomfort ratings, this study aimed at quantifying the biomechanical and perceptual demands of various dynamic push/pull techniques. 36 healthy male participants performed two-handed forward pushing, two-handed backward pulling and one-handed forward pulling, employing an industrial pallet jack supporting two loads of 250kg or 500kg. While no single technique was definitively identified as preferable regarding hand forces, pushing at 500kg elicited higher initial and sustained forces (p<0.05) than one- and two-handed pulling respectively. Increments in load mass from 250kg to 500kg resulted in significant differences in the initial, sustained and ending forces. With regard to spinal kinematics in the sagittal plane, two-handed pulling elicited the highest trunk flexion, and may therefore expose individuals to prolonged forward bending. Generally this technique was found to evoke the highest sagittal responses. Spinal kinematic measures in the lateral and transverse planes suggested that one-handed pulling was accompanied by the highest measures, and hence the greatest risk of developing lower back disorders related to this plane. Although various combinations of muscles were active during each technique, one-handed pulling and pushing, most often induced the highest muscle activation levels and two-handed pulling, the lowest. While erector spinae evidenced no significant differences between techniques at each load or between loads for the same technique, activation levels were high under all conditions. Perceptual ratings of body discomfort revealed that not only is the upper body susceptible to injuries during pushing and pulling, but also that the lower extremities may have a considerable role to play in these tasks, with the calves being a particular area of concern. Findings concluded that symmetrical pushing and pulling tasks are preferable.
- Full Text:
- Date Issued: 2009
- Authors: Desai, Sheena Dhiksha
- Date: 2009
- Subjects: Work -- Physiological aspects , Biomechanics , Human engineering , Lifting and carrying
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:5109 , http://hdl.handle.net/10962/d1005187 , Work -- Physiological aspects , Biomechanics , Human engineering , Lifting and carrying
- Description: Changes in the industrial job profile, from lifting and lowering to repetitive dynamic pushing and pulling have been facilitated through the use of manual vehicles, aimed at minimising the workload. Yet, the demands of pushing and pulling have not been well documented. Using measures of the horizontal component of the hand forces, spinal kinematics, muscle activity at various sites on the upper body and body discomfort ratings, this study aimed at quantifying the biomechanical and perceptual demands of various dynamic push/pull techniques. 36 healthy male participants performed two-handed forward pushing, two-handed backward pulling and one-handed forward pulling, employing an industrial pallet jack supporting two loads of 250kg or 500kg. While no single technique was definitively identified as preferable regarding hand forces, pushing at 500kg elicited higher initial and sustained forces (p<0.05) than one- and two-handed pulling respectively. Increments in load mass from 250kg to 500kg resulted in significant differences in the initial, sustained and ending forces. With regard to spinal kinematics in the sagittal plane, two-handed pulling elicited the highest trunk flexion, and may therefore expose individuals to prolonged forward bending. Generally this technique was found to evoke the highest sagittal responses. Spinal kinematic measures in the lateral and transverse planes suggested that one-handed pulling was accompanied by the highest measures, and hence the greatest risk of developing lower back disorders related to this plane. Although various combinations of muscles were active during each technique, one-handed pulling and pushing, most often induced the highest muscle activation levels and two-handed pulling, the lowest. While erector spinae evidenced no significant differences between techniques at each load or between loads for the same technique, activation levels were high under all conditions. Perceptual ratings of body discomfort revealed that not only is the upper body susceptible to injuries during pushing and pulling, but also that the lower extremities may have a considerable role to play in these tasks, with the calves being a particular area of concern. Findings concluded that symmetrical pushing and pulling tasks are preferable.
- Full Text:
- Date Issued: 2009
The impact of load and frequency on the biomechanical, physiological and perceptual responses to dynamic pushing
- Authors: Cripwell, Adam Michael
- Date: 2007
- Subjects: Work -- Physiological aspects , Psychophysiology , Human engineering , Biomechanics
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:5144 , http://hdl.handle.net/10962/d1008183 , Work -- Physiological aspects , Psychophysiology , Human engineering , Biomechanics
- Description: The objective of the present research was to establish the biomechanical, physiological and perceptual responses of male operators to dynamic pushing tasks. The pushing tasks were performed using an industrial pallet jack with varying load/frequency combinations, in a controlled laboratory environment. Thirty healthy male subjects comprised the sample. Experimental procedures were conducted utilising the Chatillon ™ Dynamometer to measure force output in the initial, sustained and ending phases. The K4b2 Ergospirometer was used to assess physiological responses (heart rate and oxygen consumption [V02])' Nine recorded forces and nine experimental conditions formed the basis of this study, with subjects required to push three loads (200kg, 350kg, 500kg) at three frequencies (1120 sec, 1/40 sec, 1/60 sec) at a speed of 3.6km.h-1 over 14 metres on a co-efficient of friction controlled walkway for six minutes. Gait analysis, along with perceptions of exertion (,Central ' and 'Local' RPE) were collected during the third and sixth minutes of each condition . Body discomfort and contribution were identified upon completion of each condition. The results demonstrated that load and frequency interacted to influence responses within each domain. Increasing loads required increased force output during each stage of the push, which had a concomitant effect on physiological and perceptual responses. Significant differences arose between the initial, sustained and ending forces for each load, showing the direct relationship between load and force exertion. The combination of heaviest load/quickest frequency required the greatest physiological output, exceeding recommended guidelines for heart rate, V02 and energy expenditure responses. Intermediate combinations required moderate and acceptable energy cost. Linear relationships were established between heart rate and oxygen consumption , as well as between load and V02 , thus providing industrial practitioners an opportunity to evaluate task demands in situ. The combination of high forces and elevated physiological responses increased the subjective rating of the condition. The results emphasise the need to holistically consider all contributing factors in a dynamic pushing task. Dynamic pushing tasks place biomechanical, physiological and perceptual demands on the human operator, which must be minimised in order to ensure that this form of manual materials handling becomes sustainable in the long term.
- Full Text:
- Date Issued: 2007
- Authors: Cripwell, Adam Michael
- Date: 2007
- Subjects: Work -- Physiological aspects , Psychophysiology , Human engineering , Biomechanics
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:5144 , http://hdl.handle.net/10962/d1008183 , Work -- Physiological aspects , Psychophysiology , Human engineering , Biomechanics
- Description: The objective of the present research was to establish the biomechanical, physiological and perceptual responses of male operators to dynamic pushing tasks. The pushing tasks were performed using an industrial pallet jack with varying load/frequency combinations, in a controlled laboratory environment. Thirty healthy male subjects comprised the sample. Experimental procedures were conducted utilising the Chatillon ™ Dynamometer to measure force output in the initial, sustained and ending phases. The K4b2 Ergospirometer was used to assess physiological responses (heart rate and oxygen consumption [V02])' Nine recorded forces and nine experimental conditions formed the basis of this study, with subjects required to push three loads (200kg, 350kg, 500kg) at three frequencies (1120 sec, 1/40 sec, 1/60 sec) at a speed of 3.6km.h-1 over 14 metres on a co-efficient of friction controlled walkway for six minutes. Gait analysis, along with perceptions of exertion (,Central ' and 'Local' RPE) were collected during the third and sixth minutes of each condition . Body discomfort and contribution were identified upon completion of each condition. The results demonstrated that load and frequency interacted to influence responses within each domain. Increasing loads required increased force output during each stage of the push, which had a concomitant effect on physiological and perceptual responses. Significant differences arose between the initial, sustained and ending forces for each load, showing the direct relationship between load and force exertion. The combination of heaviest load/quickest frequency required the greatest physiological output, exceeding recommended guidelines for heart rate, V02 and energy expenditure responses. Intermediate combinations required moderate and acceptable energy cost. Linear relationships were established between heart rate and oxygen consumption , as well as between load and V02 , thus providing industrial practitioners an opportunity to evaluate task demands in situ. The combination of high forces and elevated physiological responses increased the subjective rating of the condition. The results emphasise the need to holistically consider all contributing factors in a dynamic pushing task. Dynamic pushing tasks place biomechanical, physiological and perceptual demands on the human operator, which must be minimised in order to ensure that this form of manual materials handling becomes sustainable in the long term.
- Full Text:
- Date Issued: 2007
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