Implementación de una prótesis de mano mecatrónica utilizando diseño personalizado y control Inteligente

Abstract

The loss of upper limbs represents a significant limitation to a person’s independency, especially in Ecuador where functional protheses are expensive and often not adaptable to the user’s anatomy. This project aims to implement a customized mechatronic prothesis using 3D printing and electromyographic (EMG) signal control, employing accessible and low-cost technologies to develop functional and ergonomic devices that can be adapted to the need of the beneficiary, seeking to improve the quality of life and social integration of people with disabilities. The design included CAD modeling, selection of actuators and a triple rocker-type transmission mechanism, electronic integration with an ESP32 microcontroller, EMG signal acquisition using three uMyo sensors, programming of classification algorithms with AI, and functional validation with the 3D printed prototype. The results demonstrated that the prosthesis was capable of executing the selected postures: pinch, grasp, fist and salute, with 88% recognition accuracy. Therefore, the implemented prosthesis achieved what was proposed from the outset, proving a modular, lightweight and efficient design, representing a viable and replicable alternative for the rehabilitation of upper limb amputations. Keywords: prothesis, EMG signals, socket, customized, design.