Bionická ruka
Title Alternative:Bionic Hand
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Tato diplomová práce se zabývá problematikou levných bionických náhrad lidské horní končetiny. Práce obsahuje teoretický úvod do problematiky protetických náhrad horní končetiny. Jako technický vzorek bionické ruky posloužil prototyp, který je sestaven podle japonského open-source projektu HACKberry. Tento prototyp je vyroben pomocí technologie 3D tisku a doplněn o snadno dostupnou elektroniku a řídicí jednotku Arduino Micro. Díky těmto vlastnostem je zajištěna nízká cena náhrady. K tomuto prototypu je sestrojen senzor inspirovaný podle stejného projektu a další senzory pro neinvazivní snímání signálů z těla uživatele. Při konstrukci snímačů se využily infračervené snímače vzdálenosti, elektromyografie, snímače zrychlení a snímače využívající změny elektrického odporu při stlačení nebo ohnutí. Ke všem těmto senzorům byla na míru navrhnuta, a pomocí 3D tisknu vyrobena, pouzdra umožňující kompaktnost a uchycení k uživateli. U všech senzorů je dbáno na jednoduchost a minimální cenu. Tyto senzory byly pak následně otestovány a jejich vlastnosti vyhodnoceny. Testování proběhlo na uživatelích s kompletní končetinou a také na uživateli po amputaci horní končetiny. Dále se vytvořila hybridní patice umožňující připojení bionické ruky HACKberry na komerční předloktí. Tato patice umožňuje přenos signálů a napájecího napětí z komerčního předloktí. V rámci diplomové práce vznikly další kusy různých levných náhrad inspirujících se v dalších open-source projektech. V závěru práce proběhlo zhodnocení nabytých zkušeností, návrhy na vylepšení, rozšíření, které by vedly ke stavbě vlastní konstrukce bionické ruky.
This diploma thesis deals with the issue of cheap bionic prostheses of human upper limb. As a technical sample of a bionic hand served the prototype, which was assembled according to the Japanese open-source project Hackberry. This prototype is manufactured using the technology of 3D printing and accompanied by easily accessible electronics, including control unit Arduino Micro. Due to these production processes it is ensured the low cost prosthetic replacement. For this prototype were constructed sensors inspired by the same project, and other sensors for non-invasive sensing of signals from the user's body. In the design of sensors the infrared distance sensors, electromyography sensor, acceleration sensor and sensor using change in potential during compression or bending were used. To all of these sensors were designed the special compact housing with proper attachment for users were designed. These housings were made by 3D printing technology. All sensors were designed with focus on simplicity and minimal cost. These sensors were subsequently tested and their properties evaluated. Testing was carried on users with healthy arm and also on users with an amputated arm. The hybrid socket has been created to connect the HACKberry bionic hand to a commercial forearm. This socket allows signal and power transfer from a commercial forearm. As part of the diploma thesis there were made various other pieces of cheap prostheses inspired in other open-source projects. In the conclusion, evaluation of experiences, suggestions for improvements, extensions and reasoning over the construction of our own design of cheap bionic prostheses were carried.
This diploma thesis deals with the issue of cheap bionic prostheses of human upper limb. As a technical sample of a bionic hand served the prototype, which was assembled according to the Japanese open-source project Hackberry. This prototype is manufactured using the technology of 3D printing and accompanied by easily accessible electronics, including control unit Arduino Micro. Due to these production processes it is ensured the low cost prosthetic replacement. For this prototype were constructed sensors inspired by the same project, and other sensors for non-invasive sensing of signals from the user's body. In the design of sensors the infrared distance sensors, electromyography sensor, acceleration sensor and sensor using change in potential during compression or bending were used. To all of these sensors were designed the special compact housing with proper attachment for users were designed. These housings were made by 3D printing technology. All sensors were designed with focus on simplicity and minimal cost. These sensors were subsequently tested and their properties evaluated. Testing was carried on users with healthy arm and also on users with an amputated arm. The hybrid socket has been created to connect the HACKberry bionic hand to a commercial forearm. This socket allows signal and power transfer from a commercial forearm. As part of the diploma thesis there were made various other pieces of cheap prostheses inspired in other open-source projects. In the conclusion, evaluation of experiences, suggestions for improvements, extensions and reasoning over the construction of our own design of cheap bionic prostheses were carried.