Control de movimientos de una mano robótica utilizando neuroseñales.

Abstract

his work presents the construction of a 3D printed robotic hand that allows to emu late nature and the grip of the human hand through the use of neuroseigns. Currently one of the main problems presented by the most sophisticated robotic hand prostheses is the way in which the movements to be performed are indicated. Those that have obtained better results use invasive systems, which makes it necessary for the user to undergo sometimes an expensive and delicate surgery. The main objective of the de veloped system is to allow a person to control the movements and / or gestures of a robotic hand through the use of their thoughts, in such a way that the system allows users to move more fluidly and naturally. . For this, a non-invasive and low-cost brain computer interface (BCI) is used, which allows to generate the references of the robotic hand control system through the use of brain waves and their derivations. The tools used to create the algorithms are presented, as well as the communication protocols used for communication with the control board. The possibility is in charge of varying the position of each of the actuators of the robotic hand. Finally, some experimental tests performed are presented, where the results obtained are compared and the per centage of success for each user is determined.