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Development of Mechanical Prosthetic Hand System for BCI Application 866 Figure 3: Prosthetic finger Each phalanx is made from 2-parallel aluminum plate of 1.5mm thickness and join using a brass spacer bolted with 2mm diameter stainless steel screw. DC motors with the combination of reduced gear heads are used to actuate finger segments. Process of determining the length of the phalanx acquired the implementation of the Fibonacci sequence. Fibonacci sequence in application to the human hand stated that; the difference between the length of the next phalanx and the sum length of the two prior phalanges must equal to zero. The sum of the distal phalanx and the middle phalanx should be equal to the length of the proximal phalanx. However, Park et al [6] in his work has showed that the bone lengths of the finger does not follow the Fibonacci relationship but the motion paths of the digits still form an equiangular spiral path. Therefore to achieve the equiangular spiral motion path the respective length that representing each segment should include the absolute bone length and functional length (radius of the joint). Length of each segment was referred to author’s hand herself and using the Hamilton’s ratio [7] to verify that the chosen length is sufficient to form an equiangular spiral motion. All the fabrication and machining process was done in the mechanical workshop in the Department of Mechanical Engineering, University of Malaya, Malaysia. The precise machining was carried out using a CNC (computer numerical control) wire EDM (electrical discharge machining) machine Sodick, available in the Department of Manufacturing and Design, University of Malaya, Malaysia. 3.0. Result A prototype of prosthetic hand was successfully fabricated and tested for functionality, performance and strength. Figure 4 shows the flow diagram of a BCI system to control prosthetic hand developed by Biomedical Engineering BCI group, University of Malaya. A fuzzy controller is used to control the prosthetic hand. Input for controller is fed from the BCI box. EEG signals acquired from subject is amplified and converted to digital signal. The signal is further process and classified before send to fuzzy controller.
867 N. A Abu Osman, S. Yahud and S. Y Goh Figure 4: A BCI system developed for control of prosthetic hand. The prosthetic hand then acted according to the subject intent. The proposed BCI system was effectively controlled the prosthetic hand. The prosthetic hand is capable of performing the four essential tasks: cylindrical grasps, key pinch, pulp to pulp pinch and tripod pinch as shown in figure 5. Figure 5: The four pre-determined tasks for the prosthetic hand Strength for each joint was measured using proof ring method. Maximum loads used for calibration of the proof ring is 1.2 kg. Figure 6 shows the graph obtained form the proof ring calibration test. A LabVIEW program was developed to capture voltage changes as the ring experienced tension. In the test the ring was placed between actuator and measured joint of the
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