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Development of Mechanical Prosthetic Hand System for BCI Application 864 of the user such as communication, controlling the environment, or moving prosthetic limb [1]. Wolpaw et. al has used BCI to restore communication for locked-in subject by moving a cursor in one or two dimension to choices on computer screen [2]. Birch and Mason [3] has used the LF-ASD to allow user to navigate a maze by making, turning decisions at intersection which could be implement for wheelchair control. Graz-BCI [4] is used by tetraplegic patient to control the opening or closing of a hand orthosis. In this study, the BCI is used to control a prosthetic hand. Figure 1 shows the block diagram of the BCI proposed in this study. Prosthetic hand Figure 1: Block diagram showing the components of BCI Development of prosthetic hand is inspired by the beauty and complexity of the human hand. Human hand is a very complex and malleable tool connected to the most powerful and complicated controller, the brain. Hand is made up from wrist, palm and fingers. First finger is the thumb followed by index, middle, ring and little finger. Skeleton of the hand can be divided into three segments; the carpus or bones of the wrist, the metacarpus or bones of the palm and the phalanges or bones of the finger. Prostheses can be classified into; body powered and externally powered. Most of the ancient belowelbow prosthetics known are body powered and apparently relied on the contralateral hand or relative motion between the shoulder, upper arm and forearm for the operation. Body powered below-elbow prosthetics usually consist of split hook or five fingers, socket and harness. This type of prosthetic hand only provide open and close hand action, and due to this limitation study are carried out to overcome it by switching to the externally powered prosthetic hand. The current trend in prosthetic hands is externally powered. An externally powered prosthetic hand is actuated by external actuators such as DC motors, ultrasonic motors, pneumatic cylinder, hydraulic cylinder and shape memory alloy material (SMA). Robotic technology has been helpful in improving the control and design of prosthetic hand. There are close relationship between robotics and prosthetic hand since both provide human like motion and prehension. In robotic hand the main focus is to imitate the human hand and enhance the performance. Thus, in robotic application two fingers are sufficient,
865 N. A Abu Osman, S. Yahud and S. Y Goh however three fingers are needed to perform dexterous tasks in an unstructured environment and to achieve full grasp of two-dimensional object [5]. Whereas, prosthetic hands are inspired by the need to replace the function of the human hand and try the best to resemble the human hand both functionally and structurally. In general prosthetic hands have benefited from the development of the robotic technologies. Brain-computer interface (BCI) project developed by University of Malaya is a project consists of signal processing part, BCI box and the device, as shown in figure 1. The device is composed of prosthetic hand and fuzzy controller. The objective of the study is to develop a prosthetic hand that able to perform the four basic tasks required by human hand: cylindrical grasps, key pinch, pulp to pulp pinch and tripod pinch. 2.0. Methodology In this study the primary concern is to develop a prosthetic hand that able to perform the four essential tasks using a BCI system. In order for the hand to perform the four tasks, the hand should possess the maximum number of the DOFs. As a result, the proposed design should yield a total of 16 DOFs with each finger has 3 DOFs and thumb has 4 DOFs. The design of the finger has the following characteristics; (i) each finger has a total of three joints with three DOFs, (ii) thumb has similarly three joints but with four DOFs, (iii) each DOF is actuated by one actuator, (iv) each joint has installed a torsion spring within it for return mechanism, and (v) each joint is equipped with potentiometer for control. For every DOF of movements, it is driven by its individual actuator, thus the hand used up to 16 units of actuator. Actuator used in this design is DC micromotors type 1331 with gearhead reduction series 14/1 manufactured by Faulhaber Group. The actuator is then connected to its respective segment using a terelyne string. The string will pulled the segment as the actuator rotates, the angle and speed of the flexion is depending on the output of the actuator. Flexion of each segment is accomplished when the string being pulled by the actuator and reset to its original position when string releases. The reset mechanism is, attain with the used of torsion spring at the joint. The stored resistive force on the torsion spring will reset segment to its original position. The string will act as a flexor digitorum profundus tendon of the human hand. The basic unit of the prosthetic hand is the prosthetic finger. Each prosthetic finger is said to maintain the same anatomical structure and dimensional proportion, regardless of their size. The three phalanx; distal, middle and proximal phalanges are denoted as L3, L2 and L1 accordingly as shown in figure 2 and connected to form a finger as shown in figure 3. Figure 2: Different size and shape of phalanx
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