Simple Hand Design (KISS Hand)

DougB
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Joined: Thu Sep 03, 2015 9:53 pm

Simple Hand Design (KISS Hand)

Postby DougB » Fri Jan 08, 2016 5:38 pm

I have been working on a very simple Myoelectric hand based on the print flat Gripper hand developed by Skip Meetze. I'm using an Arduino based chip, the Advancer Technologies Myoware board and one servo to control the thumb. For a battery I am using one USB cell phone battery pack. The hand seems to work fairly well.
https://plus.google.com/u/0/103262303572054348874/posts

I don't think the stick on electrodes are a practical and would like to investigate other options.

I tried to make a sleeve like the one shown here with limited success.
http://www.advancertechnologies.com/201 ... rodes.html

I thinking it would be great to incorporate some kind of wearable switch maybe using this material.
https://www.adafruit.com/products/1361

Any ideas?

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Skip Meetze
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Location: Webster, NY
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Re: Simple Hand Design (KISS Hand)

Postby Skip Meetze » Mon Jan 11, 2016 2:21 am

Wow! Doug,

I am so glad to see what you have done! Your device is already where I hoped to find myself months from now. Well done!

Rather than working on my gripper thumb upgrade, I would prefer to see you continue with your brilliant concept! If you put a 1/2-20 bolt at the wrist, it will fit on the training arm as well as all professionally created prosthetic arms. The 1/2-20 nuts and bolts can be found at Ace hardware (but not at Lowes or Home Depot).

There is plenty of room in the training arm as it is developing to put your electronics and battery. Think about something like a bracelet (or an attachment for the triceps cuff) with the electronics for upgrading a conventional prosthetic arm like my friend Nate Ramsey has done with the gripper thumb.

I encourage you to do a show and tell on the next Monday night R and D Hangout.

I enclose the stl file for the (untested) moterized gripper thumb I just designed. I will also make public the tinkercad files so that you can use it to grab parts to mashup with your design if you care to. https://tinkercad.com/things/2bnmOqE7ImP https://tinkercad.com/things/c0OFyTp5uPw . Sorry, but Tinkercad is the only CAD I know how to use.

Please share your designs and keep us posted on your progress. Let me know if I can help.

TNT
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Joined: Mon Jan 11, 2016 7:08 am

Re: Simple Hand Design (KISS Hand)

Postby TNT » Mon Jan 11, 2016 7:09 am

HI Doug. Do you got a link for the arduino chip?

DougB
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Joined: Thu Sep 03, 2015 9:53 pm

Re: Simple Hand Design (KISS Hand)

Postby DougB » Mon Jan 11, 2016 5:03 pm

Hey Skip,
I am really excited about having Nate try this hand, I read his comments about Hi-Tech prosthetics so I think he will give some great feedback. It should be no problem to add a 1/2-20 bolt the hand. I am wondering about the electrodes for the hand. Does Nate have a socket/gauntlet with electrodes that will work with the Advancer board? It would be great to get some ideas from Nate about what he would like to see in the design. Currently I have two potentiometers on the circuit board, one for myoelectric sensitivity and one for thumb force. Do you think additional control for thumb speed would be useful?

What do you or Nate think about getting rid of the myoelectrics and using some sort of a body activated switch made for this material?
https://www.adafruit.com/products/1361
I bought some and this stuff and it would be really easy to interface with the microprocessor. Maybe this could be used with the harness that is used for body powered hooks? Or maybe in the shoe and controlled by lifting the big toe to top of the shoe? But who wants wires running all over their body?

I will be posting source files as soon as I clean them up a bit.

DougB
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Joined: Thu Sep 03, 2015 9:53 pm

Re: Simple Hand Design (KISS Hand)

Postby DougB » Mon Jan 11, 2016 5:30 pm

TNT,
You can buy an Arduino board with the removable chip and program it with the code I will be posting.
http://www.amazon.com/Arduino-Board-Mod ... B008GRTSV6

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Skip Meetze
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Location: Webster, NY
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Re: Simple Hand Design (KISS Hand)

Postby Skip Meetze » Wed Jan 13, 2016 11:55 pm

Hi Doug,
I think Nate’s prosthetist can probably come up with optional electrodes, but I would love to see what you can come up with! Yes, adding a thumb speed control does sound good for research at your present level of development. However, you may eventually zero in on values that will work over a wide range of applications and do not need adjusting. The values in your demo look nice to me.

I think that body-actuated switches are a wonderful (low cost) option to offer. Feel free to explore whatever you think might work. I see that Adafruit has some nice tutorials by Plusea https://www.adafruit.com/datasheets/Han ... ensors.pdf for working with material you found. It is open source, so feel free to build on what they have done (giving attribution where appropriate, of course).

We look forward to seeing the details of your designs.

DougB
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Joined: Thu Sep 03, 2015 9:53 pm

Re: Simple Hand Design (KISS Hand)

Postby DougB » Wed Jan 20, 2016 8:06 pm

The STL, wiring, and Arduino code for the KISS hand is available here:
https://drive.google.com/folderview?id= ... sp=sharing

I have added a 1/2" bolt to the wrist so that it can be used with standard prosthetic arms. I have only tested this hand with this servo but plan on trying some less expensive servos.
http://www.amazon.com/gp/product/B0006O ... ge_o03_s00

I have also changed the circuit so that the hand can be controlled by a body operated switch or the Advancer myoelectric board. The body operated switch just uses a small piece of velostat and two non insulated wires placed in compression by the strap buckle (see STL). The velostat changes resistance when it is squeezed.
https://www.adafruit.com/products/1361

Marignoni
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Joined: Mon Jan 25, 2016 6:51 pm

Re: Simple Hand Design (KISS Hand)

Postby Marignoni » Mon Jan 25, 2016 7:06 pm

I can not belife it. What are you for great People with all this great work. With this Hand I can start programing. That´s great.

You could perform a cast for your arm from a cast model by using orthopaedic material wich can be formed by hot air. And in this cast you can build the EMG sensors.


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