Kaunas University of Technology Faculty of Electrical and Electronics Engineering Technical University of Cartagena School of Industrial Engineering Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis Bachelor’s Final Degree Project Javier Granizo Cuadrado Project author Assoc. Prof. Dr. Arunas Lipnickas Assoc Prof. Dr. Rosendo Zamora Pedreño Supervisors Cartagena, Kaunas 2020 Kaunas University of Technology Faculty of Electrical and Electronics Engineering Technical University of Cartagena School of Industrial Engineering Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis Bachelor’s Final Double Project Robotics (612H67001) Industrial Electronics and Automation Engineering (5071) Javier Granizo Cuadrado Project author Assoc. Prof. Dr. Arunas Lipnickas Assoc Prof. Dr. Rosendo Zamora Pedreño Supervisors Lect. G. Narvydas Reviewer Cartagena, Kaunas 2020 Kaunas University of Technology Faculty of Electrical and Electronics Engineering Technical University of Cartagena School of Industrial Engineering Javier Granizo Cuadrado Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis Declaration of Academic Integrity I confirm that the final project of mine, Javier Granizo Cuadrado, on the topic “Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis” is written completely by myself; all the provided data and research results are correct and have been obtained honestly. None of the parts of this thesis have been plagiarized from any printed, Internet-based or otherwise recorded sources. All direct and indirect quotations from external resources are indicated in the list of references. No monetary funds (unless required by Law) have been paid to anyone for any contribution to this project. I fully and completely understand that any discovery of any manifestations/case/facts of dishonesty inevitably results in me incurring a penalty according to the procedure(s) effective at Kaunas University of Technology. (name and surname filled in by hand) (signature) APPROVED BY: KTU Faculty of Electrical and Electronics Engineering Head of the Department of Automation Assoc. prof. dr. Gintaras Dervinis 2020 05 04 TASK OF FINAL PROJECT OF UNDERGRADUATE (BACHELOR) STUDIES Issued to the Student: Javier Granizo Cuadrado Group ERB6/1 1. Project Subject: Lithuanian Language: Elektra valdomo dilbio protezo projektavimas ir gamyba taikant prototipavimo technologijas English Language: Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis Approved 2020 May . 6d. Decree of Dean Nr. V25-03-7 2. Goal of the Project: To design an active hand and forearm prosthesis with a computer added control system 3. Specification of Final The work must meet the methodological requirements for the preparation of final Project: projects of KTU Faculty of Electrical and Electronics Engineering. 4. Project’s Structure. The content is concretized together with supervisor, considering the format of the final project, which is listed in 14 and 15 points of Combined Description of Preparation , Defence and Keeping of Final Projects Methodical Requirements 1. The literature review of prosthetic technology and their production; 2. Design the forearm prosthesis and selection of active control elements; 3. Compose the program for the analysis of myographic signals needed to control the prosthesis; 4. Perform experimental tests on the prosthesis prototype to clarify the energy consumption for the specific motions. 5. Economical Part. If economical substantiation is needed; content and scope is concretized together with supervisor during preparation of final projects no 6. Graphic Part. If necessary, the following schemes, algorithms and assembly drawings; content and scope is concretized together with supervisor during preparation of final projects no 5. This Task is Integral Part of Final Project of Undergraduate (Bachelor) Studies 6. The Term of Final Project Submission to Defense Work at a Public Session 2020-05-26 of Qualification Commission. (date) I received this task: Javier Granizo Cuadrado 2020-05-26 (student’s name, surname, signature) (date) Supervisors: Assoc. Prof. Dr. Arūnas Lipnickas 2020-05-26 (position, name, surname, signature) (date) Granizo Cuadrado, Javier. Design and Manufacturing with Additive Manufacturing Technologies of Electrically Controlled Forearm Prosthesis. Bachelor's Final Degree Project / supervisors: Assoc. Prof. Dr. Arunas Lipnickas, Assoc. Prof. Dr. Rosendo Zamora Pedreño; Kaunas University of Technology, Faculty of Electrical and Electronics Engineering; Technical University of Cartagena, School of Industrial Engineering Study field and area (study field group): electronics and electrical engineering, technological science, engineering Keywords: hand prosthesis, additive manufacturing, neural networks Cartagena, Kaunas 2020. p. 95 Summary The present project has the objective of developing an electrically active hand prosthesis for those people with crippled hands and forearms using additive manufacturing technologies. Using the power of Neural Networks to decode patterns in the myographic data of the forearm, the prosthesis will move accordingly to a series of predefined gestures previously registered. It will also discuss the bases of the design, mechanical properties, manufacturing processes and the possibility of replication for other cases. Granizo Cuadrado, Javier. Diseño y fabricación con tecnologías de fabricación aditiva de una prótesis de antebrazo accionada electricamente. Trabajo de Fin de Grado / supervisores: Prof. Asoc. Dr. Arunas Lipnickas, Prof. Asoc. Dr. Rosendo Zamora Pedreño; Universidad Tecnológica de Kaunas, Facultad de Ingeniería Eléctrica y Electrónica; Universidad Politécnica de Cartagena, Facultad de Ingeniería Industrial Campo de estudio y área: ingeniería electronica y electrica, ciencias de la tecnología, ingeniería Palabras clave: prótesis de mano, fabriación de mano, Redes Neuronales Cartagena, Kaunas 2020. 95 páginas. Sumario El presente proyecto tiene el objetivo de desarrollar una prótesis de mano activada eléctricamente para aquellas personas con mano o antebrazo amputado usando tecnologías de fabricación aditiva. Usando la potencia de las Redes Neuronales en la decodificación de patrones en datos miográficos del antebrazo, la prótesis se moverá de acuerdo con una serie de gestos predefinidos previamente registrados. También se hablará sobre las bases del diseño, propiedades mecánicas, procesos de manufacturación y uso para otros casos. Granizo Cuadrado, Javier. Elektra valdomo dilbio protezo projektavimas ir gamyba taikant prototipavimo technologijas. Bakalauro baigiamasis projektas Vadovas: doc. dr. Dr. Arunas Lipnickas, doc. dr. Rosendo Zamora Pedreño; Kauno technologijos universitetas, Elektros ir Elektronikos Fakultetas; Cartachenos Technologijos Universitetas, Pramonės inžinerijos fakultetas Studijų kryptis ir sritis (studijų krypčių grupė): elektronikos ir elektros inžinerija, technologijos mokslai, inžinerija Reikšminiai žodžiai: Rankos protezas, papildyta gamyba, neuroniniai tinklai Cartagena, Kaunas 2020. 95 p. Santrauka Šiame darbe pristatomas valdomas aktyvinis rankų protezas tinkantis žmonėms, turintiems suluošintus rankų dilbius ir naudojantis kompiuterines valdymo technologijas. Dilbio miografinių duomenų analizei taikytas dirbtinis neuroninis tinklas iššifruoti iš anksto nustatytas gestų serijas, tam, kad būtų galimybė valdyti dirbtinį dilbį. Darbe taip pat aptartas protezo dizainas, mechaninės savybės, gamybos procesas ir replikacijos galimybės kitais atvejais. Table of contents List of figures ..................................................................................................................................... 9 List of tables ..................................................................................................................................... 11 List of abbreviations and terms ...................................................................................................... 12 Introduction ..................................................................................................................................... 13 1. Design and manufacturing of the hand and forearm prosthesis ........................................... 15 1.1. History and types of prosthesis. State of the art ....................................................................... 15 1.2. Design of the Forearm .............................................................................................................. 17 1.2.1 Forearm anatomy. Types of amputation in the forearm. .......................................................... 17 1.2.2 Forearm measurements. CAD 3D Model of the forearm and the forearm prosthesis .............. 18 1.2.3 Hand and wrist anatomy ........................................................................................................... 20 1.2.4 Wrist measurements. CAD 3D Model of the wrist prosthesis ................................................. 21 1.2.5 Hand measurements. CAD 3D Model of the hand prosthesis .................................................. 22 1.3. Additive manufacturing technologies. Definition, origin and types ........................................ 25 1.3.1 FDM printing. Election of material .......................................................................................