Submitted by Ricardo Taoni Xavier null (rtaoni@gmail.com) on 2016-10-31T12:57:11Z No. of bitstreams: 1 DISSERTAÇÃO - RICARDO TAONI XAVIER.pdf: 4280724 bytes, checksum: 935ff61eb52f06aadb80afc3f6386d03 (MD5) / Approved for entry into archive by Felipe Augusto Arakaki (arakaki@reitoria.unesp.br) on 2016-11-04T18:01:56Z (GMT) No. of bitstreams: 1 xavier_rt_me_ilha.pdf: 4135843 bytes, checksum: 8ca33b9b3c8efa0cc08a3c6c6c4a1e4e (MD5) / Made available in DSpace on 2016-11-04T18:01:56Z (GMT). No. of bitstreams: 1 xavier_rt_me_ilha.pdf: 4135843 bytes, checksum: 8ca33b9b3c8efa0cc08a3c6c6c4a1e4e (MD5) Previous issue date: 2016-08-29 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Neste trabalho, descreve-se a implementação de uma prótese de mão biônica de baixo custo, constituída por um mecanismo com dezesseis graus de liberdade, cinco dedos articulados individualmente, acionados por tendões mecânicos. Sua estrutura foi fabricada em impressora 3D. Para o interfaceamento homem-máquina foi desenvolvido um shield, que realiza a aquisição de sinais eletromiográficos, com dois canais, armazenamento em cartão SD e um sistema eletrônico capaz de gerar um banco de dados com movimentos realizados pela mão humana. Foi utilizada a plataforma Arduino para processamento e programação. O sistema contém um aplicativo com protocolo de acionamento programável e inserção de movimentos, proporcionando independência ao usuário. Foram realizados testes nos quais o sistema implementado executou movimentos, após armazenar vários movimentos funcionais da mão. Isso foi possível devido ao desenvolvimento de um algoritmo capaz de reconhecer, quantificar e armazenar os sinais produzidos pelas contrações dos músculos. A prótese ativa implementada funcionou adequadamente para paciente com deformidade congênita e para paciente amputado. O valor total dos componentes mecânicos e eletrônicos necessários para implementar a prótese ativa e a utilização de hardwares e softwares livres contribuem para que o custo do dispositivo seja reduzido. / This paper describes the implementation a low cost hand prosthesis, a mechanism constituted by sixteen degrees of freedom, five articulated fingers individually, driven by mechanical tendons. Its structure was made in a 3D printer. For the man-machine interfacing, a shield was developed which performs the acquisition of electromyographic signals, with two channels, SD card storage and an electronic system able to generate a database of movements made by the human hand. The Arduino platform was used for processing and programming. The system contains an app with a programmable drive and insertion movements protocol, providing independence to the user. Tests were conducted in which the implemented system performed movements, after storing various functional hand movements. This was possible due to the development of an algorithm capable of recognizing, quantifying and storing the signals produced by muscle contractions. The implemented active prosthesis worked well for patients with congenital deformity and amputee. The total value of the mechanical and electronic components required to implement the active prosthesis and the use of free hardware and software contribute to the low cost of the device.

Orientador: Aparecido Augusto de Carvalho / Resumo: This paper describes the implementation a low cost hand prosthesis, a mechanism constituted by sixteen degrees of freedom, five articulated fingers individually, driven by mechanical tendons. Its structure was made in a 3D printer. For the man-machine interfacing, a shield was developed which performs the acquisition of electromyographic signals, with two channels, SD card storage and an electronic system able to generate a database of movements made by the human hand. The Arduino platform was used for processing and programming. The system contains an app with a programmable drive and insertion movements protocol, providing independence to the user. Tests were conducted in which the implemented system performed movements, after storing various functional hand movements. This was possible due to the development of an algorithm capable of recognizing, quantifying and storing the signals produced by muscle contractions. The implemented active prosthesis worked well for patients with congenital deformity and amputee. The total value of the mechanical and electronic components required to implement the active prosthesis and the use of free hardware and software contribute to the low cost of the device. / Mestre