Desenvolvimento de uma prótese robótica de extremidade dos membros superiores capaz de realizar parcialmente a função de uma mão saudável

Abstract

In Brazil, thousands of people are either born with or develop some form of physical disability over the course of their lives, or have family members and friends with disabilities that necessitate the use of prosthetics in their daily lives. The autonomy of an individual in performing basic tasks is a crucial factor in the development of prosthetics. More specifically, the development of prosthetics capable of detecting the myoelectric signals from muscles and processing them, enabling the user to perform basic movements of the affected limb. That said, the aim of this study is to develop a robotic upper limb prosthetic capable of partially replicating the function of a healthy hand based on the electrical signals from the residual limb.To achieve our objective, a systematic review of published articles on upper limb robotic prosthetics was conducted. Subsequently, the hand was assembled and connected to the electrical circuit, using an Arduino UNO, servomotors, electrical signal sensors, and 3D-printed parts made from PLA material. We then carried out tests on the prosthesis, integrating the hand into the electronic circuit and verifying the detection and processing of myoelectric signals, as well as the compliance of finger flexion and extension with muscle contraction and relaxation.Additionally, a second test was conducted to evaluate the robotic hand's ability to grasp objects of different shapes. Spherical, cylindrical, and rectangular items were selected, allowing us to assess its effectiveness in various manipulation scenarios. The results showed that the prosthesis successfully grasped objects of different shapes, demonstrating its versatility.Through these tests, we observed the prosthesis’s functionality, with successful detection and processing of signals resulting in proper flexion and extension of the fingers. A calibration option for adapting the prosthesis to different individuals was implemented via an application, optimizing the prototype. Thus, the tests demonstrated satisfactory performance of the model.The prosthesis demonstrated satisfactory performance and responsiveness to myoelectric signals, with adjustments made to ensure adaptability to different user profiles. The results reinforce the potential of the prototype for future applications and continuous development