Upper Limb Prothesis Development Based on EMG Control

A tétel rövid nézete
dc.contributor.advisorAlmusawi , Husam Abdulkareem
dc.contributor.authorPena Martinez, Jhon Nicolas
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2025-09-04T14:54:11Z
dc.date.available2025-09-04T14:54:11Z
dc.date.created2025-05-12
dc.description.abstractThis thesis presents the design and development of upper limb myoelectric prostheses with a focus on Fused Deposition Modelling (FDM) manufacturing and anthropomorphic design, aimed at laying the foundation of a functional prothesis that can improve the quality of life of the user. Two prototypes were elaborated under the scope of the thesis: an artificial tendon-driven-finger-based arm with twelve degrees of freedom and a linkage-driven-finger-based hand with six degrees of freedom. The former integrates electromyography (EMG) signal acquisition and processing along with a developed standard servo control algorithm. The second prototype presented an improvement in reliability by enabling the development of a symbolic kinematic model - a notable contribution due to the scarcity of these models in prosthetic literature-. This mathematical model allows for predictability in artificial finger motions, thus contributing to the development of a robust, precise control system. Additionally, a custom-designed printed circuit board (PCB) was developed to integrate EMG inputs, inertial sensors (IMU), PWM control, and encoder feedback for DC motor actuation. By addressing the recognized gap in literature this project contributes towards a medically validated myoelectric prothesis with full symbolic mathematical modelling with precise control algorithm.
dc.description.courseMechatronics Engineering
dc.description.degreeBSc/BA
dc.format.extent82
dc.identifier.urihttps://hdl.handle.net/2437/397235
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectUpper limb prostheses
dc.subjectArtificial tendon finger
dc.subjectlinkage driven finger
dc.subjectmyoelectric control
dc.subjectkinematic analysis
dc.subjectEMG signal processing
dc.subject.dspaceEngineering Sciences
dc.titleUpper Limb Prothesis Development Based on EMG Control
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