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Grabbing Hand
BMES 492: SENIOR DESIGN FOR BIOMEDICAL ENGINEERING
WINTER 2011
KELSEY RITTER
A. RICHARD COHEN
GARY PLACE
SEAN BISHOP
KEVIN KAUFFMAN
DR. HASAN AYAZ
HASAN.AYAZ@DREXEL.EDU
215.571.3709
SCHOOL OF BIOMEDICAL ENGINEERING
DREXEL UNIVERSITY
PHILADELPHIA, PA
EXECUTIVE SUMMARY
Many different prosthetics have been designed for people who have lost one or both of
their hands. However, the existing designs offer too little functionality, must be specialized for
an individual user, or are difficult to learn how to use. There exists a need for a system that
acquires control signals from patients with hand amputations with the capability to differentiate
between intended individual finger movements. These problems will be addressed by building
an algorithm and supplemental, universal electrode sleeve with the intention to operate a
prosthetic hand with functional fingers based on EMG data input. The universal nature of the
sleeve and algorithm will solve one problem facing smart-prosthetic development.
The final deliverables will be an algorithm combining BioPac suite software and Matlab
to acquire and classify data in addition to an electrode sleeve for the forearm. The electrode
sleeve will have electrodes attached to it in a pattern to allow multiple users to use the same
sleeve and achieve the same accuracy of finger movement. The final design must be able to
calibrate to the specific user allowing the same accuracy for all users.
After the different components are built, they will be tested in an offline setting. Different
sets of acquired EMG data will be fed into the algorithms to test their ability to calibrate and
predict individual finger movements. Time constraints will not allow for real-time user control of
the device in this project; however, the goal of the project is allow the possibility of it.
Some of the constraints on our design include the time and money available to build the design,
the time with which it takes the device to respond to a command, and the size of the physical
components of the design.
TABLE OF CONTENTS
Executive Summary 1
Table of Contents 2
List of Abbreviations and Definitions . 3
Introduction . 4
Description of Prototype to Date . 6
Problems and Issues 8
Plan of Action . 8
Impacts . 9
Schedule 10
Appendices 14
INTRODUCTION
There exists a need for a system that acquires control signals from patients with hand
amputations with the capability to differentiate between intended individual finger movements.
Many of the current designs are invasive and require surgery. A non-invasive design does not
require surgery, and is much less of a commitment and adjustment for the patient. Additionally,
some designs must be built specifically to each patient, and require extensive design work. These
devices can be expensive and difficult to learn how to use. There does not exist an EMGcontrolled prosthetic system that can operate individual digits, does not need to be customized
for a specific patient, can be calibrated for variations in electrode layout both intra-patient and
inter-patient, and is completely non-invasive.
Current solutions to this issue include systems such as invasive electrode technology and
strictly mechanical approaches. One approach developed by Dechev, Cleghorn, and Naumann
was able to achieve motion in prosthetic fingers without the use of EMG signal processing
(Dechev et. al., 1157). While this device does provide a non-invasive prosthesis with the ability
grasp objects, its greatest flaw is that it is a passive device. The fingers of the device flex when
touch sensors in the device sense that there is an object being touched (Dechev 1158). This is a
problem because the fingers may flex independent of whether or not the user intended them to
move, which could lead to an overabundance of false positive actions. Another design was
developed by Kamavuako, et al. that uses intramuscular EMG signals to operate a prosthetic
hand. This design is capable of grasping objects with greater amounts of force than the surface
EMGs it was compared to (Kamavuako, 150), but because this design is invasive, it is not a
viable solution. Another solution developed by Matrone, et al. utilized principal components
analysis to control finger motions of a prosthetic hand using surface EMG signals. This was a
successful method of analyzing surface EMG data to actively operate the mechanical fingers of a
prosthetic hand to grasp objects (Matrone 10). Where this design fails is that it lacks the
capability to be calibrated for intra-patient and inter-patient variations in electrode layout.
The objective of this project is to design a non-invasive prosthetic controller that can
successfully (see design specifications below) operate individual digits from an array of sensor
that may be placed different on a day-to-day or patient-to-patient basis. The design consists of
two major components. The first is an algorithm written in Matlab that utilizes the EMG data
from the patients arm to distinguish between individual finger movements. The second is a
sleeve containing an array of sensors that can record and transmit EMG signal sufficient to
decode the intention of the operator to move a digit of the prosthetic hand (see design
specifications). To complete the design and test our device, data obtained from BioPac suite
software will be used.
The design specifications for the sleeve mainly relate to its functionality in signal
collection and its ease of use with regard to dependably placing it in the correct position on the
arm. Firstly, the sleeve must hold electrodes tight enough to achieve a resistance measured with
an ohmmeter below 10,000 ohms but must also not exert a pressure on the arm over 25 psi, so as
to not cause pain. Testing will be performed by measuring resistance with an ohmmeter. With
regard to the placement of the sleeve, a minimum of two electrodes must remain within the area
of each of the specific targeted muscles. Testing will be performed by marking specific targeted
muscles and placing sleeve to check if electrodes are correctly place.
The algorithm will correctly classify individual finger movements with a 92% accuracy
rate which matches or improves on the recent advancements in prosthetic hand technology.
False-positives and false-negatives will be recorded by the algorithm classifying correct and
incorrect finger movements. Time constrains the project, as it must be completed by spring; we
also have a budget under $500 and an IRB which limits the scope and interactions allowed with
the electrode sleeve. The project will also be constrained to the use of the Biopac system and
Matlab, which are available through Drexel, and non-invasive surface EMG signals will be the
only signals used.
to tie all eight grounds together and connect them to one ground electrode. The board consisted
of a sheet of copper with snaps soldered to it. The copper allowed all snaps to easily be
electrically tied together; therefore, connecting all ground channels to one common ground.
Another consideration in data collection was that the BioPacs only have four channels per
unit. This meant that in order to use eight channels (16 leads plus ground) two BioPacs were
needed and two computers were needed to simultaneously collect data from all eight channels.
This obstacle was overcome by using an external trigger tied to both units to send a start signal in
order to sync the two units. This would free up the redundant channel and allow us one more
channel to collect as much data as possible for use in classifying channels.
Matlab code and provide sufficient data sets to test our algorithm for calibration and
functionality of distinguishing between finger movements. While the code is being finalized and
tested, the sleeve will be constructed. The sleeve will be built up until the insertion of the
electrodes. Once the optimum electrode position is found, the electrodes will be attached to the
sleeve and testing with the sleeve and algorithm will be conducted to test both designs. This will
allow for modifications to finalize and address any small issues left open during the process
before May 11th.
10
individuals that fall within the 50th percentile male range of forearm size or so that when the
sleeve is positioned that at least two of the electrodes fall within the target muscle area. This
design however could be easily tailored to individuals that arent within this range or a variety of
sizes could be designed to accommodate more people.
One of the most important impact of this design is the return to normalcy that it will
create. The use of the armband or sleeve will give the patient a feeling of normalcy when
compared to using braces and straps across the upper body to control a mechanical prosthetic.
Lastly, the training associated with using this device will required additional training that
may initially take longer to due to the calibration operation, which is the drawback to this model
for fast access. However repeated use should reduce the amount of time required to fit and
calibrate the device.
SCHEDULE
As our project has progressed several changes have been made to the schedule proposed
in the Fall Term. The first item on the schedule, preliminary data collection for the electrode
sleeve, had a proposed completion date of November 12, 2012. This task was originally
completed, but as our project has changed, new data is needed that is still being collected. The
revised completion date for this step is February 25, 2013. The next step, design of the electrode
sleeve, had a proposed completion date of November 26. 2012. This task was completed for the
proposal, but due to changes in the project and feedback received, the design is being changed.
Additional data is being collected, in task 1, which will be important to the new design. The
revised completion date is March 4, 2013. The next task, build the electrode sleeve, had a
proposed completion date of January 28, 2013. Material orders have been sent, but not received.
We expect to receive materials by March 4, 2013 at which time we will have completed the
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design of the sleeve. The revised completion date is April 8, 2013. The next task, the design of
an algorithm to determine which finger a person intends to flex based on EMG recordings, had a
proposed completion date of January 28, 2013. A method of solution has been outlined for this
algorithm, but the code to perform these operations is still being built. The revised completion
date for this task is March 4, 2013. The next task is the design of an algorithm that will calibrate
the first algorithm based on variations in the user between each use. The proposed completion for
this task was January 28, 2013. Like the other algorithm, the method of solution has been
outlined, and while the code is far along, it is still being built. The revised completion for this
task is March 4, 2013. Next, testing and verification of a working sleeve, was proposed to be
completed on February 11, 2013. This task has been delayed due to delays in completion of task
3. Testing to meet two criteria specific to the sleeve will be performed in the beginning of Spring
term. The revised completion date for this task is April 22, 2013. Finally, Offline testing and
verification of the algorithms was proposed to be completed by March 11, 2013. We have begun
verifying the algorithms as we build them and continue to collect data, and are proposing a new
completion date of March 18, 2013. Originally, it was proposed that online, or real-time,
testing of the completed algorithms would be completed by April 29, 2013. Since that proposal,
our solution has incorporated using two Biopac Systems and time-syncing the data offline, after
collection. Due to this requirement, and time constraints, we do not expect to be able to conduct
online, or real-time, testing, but will attempt to if time allows in the Spring Term.
In addition to the revised schedule above, other aspects of the schedule have changed.
First, Labview is no longer a part of the solution for this project, so tasks relating to Labview
have been removed. Also, there are many regular meetings that have been scheduled. Biweekly
meetings have been scheduled with Dr. Ayaz, the team advisor, at his office. Time has been set
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aside for semiweekly team meetings, including Mondays during the assigned BMES 492 class
time and Wednesday evenings. The team has secured three lab sessions per week. These lab
sessions will be used throughout testing and development of the solution components and will
occur every Tuesday, Thursday, and Friday.
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REFERENCES
Doel, Kees Van Den, Uri M. Ascher, and Dinesh K. Pai. "Computed Myography: Threedimensional Reconstruction of Motor Functions from Surface EMG Data." Inverse
Problems 24.6 (2008): 065010. Print.
Khokhar, Zeeshan O., Zhen G. Xiao, and Carlo Menon. "Surface EMG Pattern Recognition for
Real-time Control of a Wrist Exoskeleton." BioMedical Engineering OnLine 9.1 (2010):
41. Print.
Kuiken, T. A., G. Li, B. A. Lock, R. D. Lipschutz, L. A. Miller, K. A. Stubblefield, and K. B.
Englehart. "Targeted Muscle Reinnervation for Real-time Myoelectric Control of
Multifunction Artificial Arms." JAMA: The Journal of the American Medical Association
301.6 (2009): 619-28. Print.
Lapatki, B. G., and J. P. Van Dijk. "A Thin, Flexible Multi-electrode Grid for High-density
Surface EMG." Journal of Applied Physiology (2003): n. pag. Web. 1 Nov. 2012.
Mesin, L., R. Merletti, and A. Rainoldi. "Surface EMG: The Issue of Electrode Location."
Journal of Electromyography and Kinesiology 19.5 (2009): 719-26. Print.
"Myfit.ca - The Best Exercises & Workout Plans." Myfit.ca - The Best Exercises & Workout
Plans. N.p., n.d. Web. 26 Nov. 2012. <http://www.myfit.ca/>.
Novak, Mark. Design of an Arm Exoskeleton Controlled by the EMG Signal. Professor Derin
Sherman, Dec. 2011. Web. 25 Nov. 2012.
<http://www.cornellcollege.edu/physics/files/mark-novak.pdf>.
Staudenmann, D., I. Kingma, A. Daffertshofer, D.F. Stegeman, and J.H. VanDieen. "Improving
EMG-Based Muscle Force Estimation by Using a High-Density EMG Grid and Principal
Component Analysis." IEEE Transactions on Biomedical Engineering 53.4 (2006): 71219. Print.
Raez, M. B. I., M. S. Hussain, and F. Mohd-Yasin. "Techniques of EMG signal analysis:
detection, processing, classification and applications." Biological Procedures Online. 8.
(2006): 11-35. Web. 5 Nov. 2012.
Van Duinen, Hiske, Wei Shin Yu, and Simon C. Gandevia. "Limited Ability to Extend the Digits
of the Human Hand Independently with Extensor Digitorum." The Journal of Physiology
587 (2009): 4799-810. Print.
Matrone, Giulia C, Christian Cipriani, et al. "Principal components analysis based control of a
multi-dof underactuated prosthetic hand." Journal of NeuroEngineering and
Rehabilitaiton. 7.16 (2010): 1-13. Web. 27 Nov. 2012.
Kamavuako, Ernest Nlandu, Dario Farina, et al. "Relationship between grasping force and
features of single-channel intramuscular EMG signals." Journal of Neuroscience
Methods. 185. (2009): 143-150. Web. 27 Nov. 2012.
Dechev, N., W.L. Cleghorn, and S. Naumann. "Mechanism and Machine Theory." Mechanism
and Machine Theory. 36. (2001): 1157-73. Web. 27 Nov. 2012.
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APPENDIX A - Resumes
Alan R. Cohen
arc56@Drexel.edu
Education:
Drexel University
BS Biomedical Engineering
Biomechanics
Philadelphia, PA
Anticipated Graduation June, 2013
Synthes, USA
Biomaterials Product Development and Research Co-op
Fort Washington, PA
January 2012- Present
Fort Washington, PA
September 2011- March 2012
Fort Washington, PA
September 2010- March 2011
West Chester, PA
September 2009- March 2010
Skills
Ariba
Microsoft Visio & Project
Minitab
15
Gary Place
gmp48@drexel.edu
Coursework:
Biomaterials
General Chemistry
Organic Chemistry
Thermodynamics
Biomedical Statistics
Philadelphia, PA
Anticipated Graduation June, 2013
Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomeasurments
Skills:
Proficient with Microsoft Excel, Visio, Word, PowerPoint, as well as AutoDesk and
Creo/Elements(formerly Pro/E)
Proficient in programming in Maple, MatLab Enviroments, and LabView
Basic skills in C++ and Java New Jersey Emergency Medical Technician-B
New Jersey HazMat Awareness Certification New Jersey CBRNE (chemical, biological, radiological, and
nuclear plus improvised explosive) Awareness Certification
Experience:
Maple Shade First Aid Squad Volunteer EMT-B. Maple Shade, NJ Winter 2010 to Winter 2011
Collaborate with team to provide emergency services to area residents Volunteer nights and Saturdays;
average of 60.5 hours per month Commitment to complete ambulance driver course by spring 2012
Philadelphia Pipe Bending Co & Bentech inc Project Foreman.Philadelphia, PA Spring 2005 to
Spring 2010
Developed and implemented production plans that increased project workforce and productivity
Performed preventative maintenance and repaired operations of CNC hydraulic equipment Performed and taught
brass/copper welding techniques to ASME standards Interpreted and drafted component designs from both foreign
and domestic customers
Champps Americana. Marlton, NJ Bartender Spring 2007 to Summer 2008
Certified by learn2serve educational services for ethical decision making
16
Kelsey Ritter
kjr59@Drexel.edu
Education:
Drexel University
Philadelphia, PA
BS Biomedical Engineering
Anticipated Graduation June, 2013
Biomechanics & Human Performance Concentration
Mechanical Engineering Minor
Coursework:
Engineering Design & Programming Labs I,II,III
Human Physiology I,II and Musculoskeletal Anatomy
Control Systems Engineering I,II
Mechanics of Materials & Experimental Mechanics Lab
Fluid Mechanics & Thermodynamics
Skills:
Computer: ProENGINEER, Microsoft Office, MATLAB, LabVIEW, Maple, AutoCAD
Laboratory: Cadaver lab, Computed tomography, Titrations, Micro-pipetting, Animal handling
Experience:
Johnson & Johnson - Depuy Synthes
Product Development Engineering Temp
West Chester, PA
April 2012 to October 2012
Philadelphia, PA
September 2010 to September 2011
West Point, PA
June 2010 to September 2010
17
Kevin R. Kauffman
Kevin.R.Kauffman@Drexel.edu
Education:
Drexel University
BS Biomedical Engineering
Biomechanics
Coursework: Biomechanics I
Biomeasurements Lab II
Biodynamics
Thermodynamics
Biomedical Statistics
Philadelphia, PA
Anticipated Graduation June, 2013
Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomedical Electronics
Skills:
Training: General laboratory training, Biohazardous waste training, Radioactive waste training
Software: AutoCAD (3 Yrs.), ProE (60 Hrs.), Matlab, LabVIEW, Microsoft Office (Word, Excel,
PowerPoint)
Miscellaneous: General construction, Shielded metal arc welding, Laser welding, Soldering,
Automotive repair and modification
Laboratory/Equipment: Analytical balance, Pipettes, Liquid-handling robots, pH meter,
Deionized water systems
Experience:
Rex Medical
Mechanical Engineer
Conshohocken, PA
September 2011 to March 2012
Johnson Matthey
Mechanical Engineer
Wayne, PA
September 2010 to March 2011
Sanofi-Aventis
Research Technician
Great Valley, PA
September 2009 to March 2010
West Chester, PA
June 2004 to September 2009
18
Sean Bishop
Sean.S.Bishop@gmail.com
Education:
Drexel University
BS Biomedical Engineering
Biomechanics
Coursework:
Biomechanics I
Biomeasurements Lab II
Biodynamics
Thermodynamics
Biomedical Statistics
Philadelphia, PA
Anticipated Graduation June, 2013
Mechanics of Materials
Dynamic Engineering Systems
Calculus: Differential, Integral, Multivariate
Engineering Mechanics Statics
Biomedical Electronics
Skills:
Training: Automotive Engineering Technician: UTI graduate 2004, Navy Nuclear Power Training,
Hunter Alignment Training Certification, Ford Accelerated Customer Training Program
Software: AutoCAD (2 Yrs.), ProEngineering, Matlab, LabVIEW, Maple, Microsoft Office (Word,
Excel,PowerPoint, Outlook)
Miscellaneous: EEG building and testing, establishing testing protocol, Soldering, Automotive
repair and modification
Laboratory/Equipment: Analytical balance, Pipettes, Titration, pH meter, Deionized water
systems
Experience:
McGowan Associates
Biomechanical Engineer
Merrion Station, PA
April 2012 to Current
Moberg Inc
Engineering Technician
Ambler, PA
April 2010 to April 2012
Lasko Products
Research Technician
West Chester, PA
October 2008 to September 2010
Charleston, SC
March 2004 to September 2008
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