ABSTRACT
The human body is the most beautiful, balanced, and unbeatable structure nature has ever made among all the species. Under the scope of this dissertation, there is an approach to clone the human hand for those who don’t have hand naturally and lost their hand permanently due to accident. The aim is to provide a reliable and economical solution to those who don’t have enough money to afford high end, costly devices made by advanced robotics companies. The human hand has a large number of degree of freedom (DOF), sensors (skin), actuators (ligaments and tendons), and a complex controlling mechanism. An acceptable prosthetic hand, working as a natural hand, provided to the needy person at reasonable cost is the bigger challenge for the research community. Here is an attempt to make a multi-tasking prosthetic hand whose source is surface electromyography signals that are processed under suitable filters and controllers. This dissertation includes a very specially designed 3D hand which is printed by a 3 D printer (3Dexter). Initially designed in 3D software, processed, and simulated for proper replication of the movements of a natural hand made of flesh ligaments and tendons. Then this structure is processed to comply with slicing software (ultimate cure), which generated the g-code for the 3D printing machine and then fed by an SD card. PLA filament is used as a raw material.
