BioArm

BioArm est une prothèse non invasive à deux degrés de liberté.

Actuellement, la robotique apporte des réponses aux personnes amputées des membres inférieurs ou bien supérieurs. Les solutions les plus onéreuses connectent chirurgicalement la prothèse aux terminaisons nerveuses. Ces opérations s’avèrent être de lourdes interventions nécessitant de longues périodes de rééducation.

En parallèle, il existe également plusieurs types de technologies non invasives qui permettent de récupérer les messages nerveux transitant à travers  les muscles. Après analyse de ces messages,  des prothèses myoélectriques exécutent les mouvements souhaités. Le principal intérêt est donc d’éviter toute opération chirurgicale et d’offrir des solutions moins onéreuses.

Nous, nous sommes donc focalisé sur :

  • la réalisation d’un système biomécanique non invasif récupérant, analysant et exécutant les mouvements désirés, par une personne ayant le bras amputé;
  • la réalisation d’un système à faible coût.

A partir des recherches effectuées, des rencontres avec des prothésistes, nous avons réussi à créer un nouveau système, que nous avons appelé BioArm, qui, à l’aide de trois capteurs collés sur l’avant bras, est capable de commander un bras robotisé de deux degrés de liberté : flexion et pincement. Le système, composé d’une carte Arduino et d’une carte Muscle Sensor V3 filtrant et amplifiant les signaux électriques et d’un bras mécanique à deux degrés de liberté, est capable dès aujourd’hui de récupérer, analyser et transmettre une commande au bras mécanique.

En parallèle de l’acquisition de données, une interface Homme-Machine a été développée sous le logiciel Processing pour piloter l’acquisition de données myoélectriques. Cette interface permet à l’utilisateur de visualiser le seuil de la tension récupérée, selon le mouvement effectué. Un graphique montrant la tension en fonction du temps à été incorporé pour étoffer l’analyse des messages nerveux.

Au travers de notre projet, on a montré la faisabilité d’une prothèse non invasive à deux degrés de liberté. Ce projet est à continuer puisqu’il reste à améliorer le traitement du signal, l’interface graphique de l’utilisateur ainsi que d’augmenter le nombre de degrés de liberté. Pour cela, il serait envisageable de disposer plusieurs capteurs à la surface de la peau au niveau du torse et des épaules. L’augmentation du nombre de capteurs à la surface de différents muscles est une piste envisageable

 

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