This was my project titled "Design and Fabrication of EMG driven
Exoskeleton Hand for Rehabilitation Process
and Work Assistance' done under supervision of Dr.S.M Humayun Kabir
FEA Based Level 3 Assessment of Deformed Tanks with Fluid Induced Loads
Design and Fabrication of EMG driven Exoskeleton Hand for Rehabilitation Process and Work Assistance
1. Design and Fabrication of EMG driven
Exoskeleton Hand for Rehabilitation Process
and Work Assistance
Submitted By
Sama-E-Shan
ID:1303130
Under Supervision of
Dr. S.M. Humayun Kabir
Professor
2. Introduction
• Hand injuries are a common result of accidents and account for 5-10% of emergency department visits
nationwide. Most of the accidents are due to adverse work conditions, lack of safety gears as well as
personal safety factors. Jobs that require heavy lifting or strong grip only gloves and small safety
equipment and in some case no safety equipment are provided which causes most of the injuries in
industry.
• Again in case of Rehabilitation of patient is performed manually by physiotherapists. Lack of
motivation of patients to perform exercises at home as well as lack of proper exercising devices state a
problem.
• Aim of this project is to solve this problem by designing an exoskeleton hand which can be useful as
rehabilitation device and as a work assistance device. The designed system can differentiate between
the patient and an average person by flex sensors and muscle sensors.
3. Research Philosophy
Design Exoskeleton hand for both patients as well as workers
Provide necessary force to subject according to their need.
Develop a robust and easily customizable system.
4. Anatomy of Hand
A number of muscles tendons are
responsible for the grab function.
We are concerned with only flexor carpi
radialis and flexor carpi ulnaris .
5. Commonly Used devices for Patients and their problems
Provides no extra support or actuation
Usually the system is not robust
6. Main Process Diagram
Development of Exoskeleton
Data Acquisition
Mechanical Design and Control
System
Software Development
For Data Analysis
8. Logic Diagram
Get Muscle Sensor
Value
Calibration
Patient
Get Flex Sensor Value
Average People
Less pressure
according to need
More pressure for
assistance
18. Conclusion and Future Work
• Sensor is subjected to external frequency which can change the value. So custom
sensor can be developed.
• Even though a total of five muscle and a few tendons are used for we are only
concerned about two muscle. So more data should be used for getting proper value.
• The structure needs to be even more robust.
19.
20. Extras(Thresholding EMG)
Start
x[],y[],
x’,y’,
S
if S>x’
if S<y’
Add value of
S to x[],y[]
respectively
Pass
Threshold
=(x[]+y[])/2
Here,
x[]=maximum value of muscle sensor
y[]=minimum value of muscle sensor
x’=initial maximum value
y’=initial minimum value S=Muscle Sensor Values
Control Servo
End
21. Extras(Controlling With Flex Sensor)
Start
s<19 s>19 && s<29 S>29
Servo position(0)
Servo Position(60){slow for
patient}
Servo Position(80){slow for
patient}
Sensor Value(s)
