The prosthesis for people with motor disabilities has been improving in recent years, with diverse techniques, like the one of the control by muscular activity, that try to facilitate the daily tasks of the people. The existing control systems for this type of prosthesis are limited and this implies a long and difficult learning. The costs also are high and nonaccessible for all, for that reason with the appearance of the printers 3D, has been generated noncommercial designs but of low cost.
The present project tries to unite the contexts of control by muscular activity and impression 3D. Making use of the Poppy robotic platform developed by Flowers Lab at Inria, and in particular the arm of a Poppy Humanoid which will simulate a myoelectric prosthesis, and of the equipment for the acquisition of muscular activities pertaining to the laboratory of the INCIA (integrative neuroscience institute at Univ. Bordeaux, France).
This project follows the following methodology:
- Connection Poppy and Matlab.
- Calculation of inverse kinematics.
- Control by EMG signals.
- Development of a prototype prosthetic arm for future scientific research.
To develop this project, first we started with the connection between Poppy and Matlab, then we used the inverse kinematic to control more efficiently the poppy’s arm. You can see the procedure in this link.
For control by EMG signals, we used all the electronic equipment of INCIA.if you have the same electronic equipment you can see all the software used in this [link] (https://github.com/joelortizsosa/EMG_Processing) and you can download all the database that we made with many subjects.
In the following video , we show you how it works:
Prosthetic arm prototype
Finally we developed a prototype for use in future research.We can control it by Matlab or Python, It is completely customizable. you can download everything that you need (electronic, software and mechanics) in this link, as well all the documentation.
A video demostration of the various possibilities offered by this prototype, here below