Desarrollo de una prótesis de mano autónoma con control mioeléctrico para agarre cilíndrico e impresión 3D, operada mediante señales de electromiografía, dirigida a personas con amputación de muñeca en Colombia

Abstract

This work presents the design and simulation of a low-cost myoelectric hand prosthesis focused on cylindrical grasping as an accessible alternative to existing commercial solutions. From an applied mechanical engineering perspective, the project integrates mechatronic design principles, additive manufacturing, and surface electromyographic (sEMG) signal acquisition to develop a functional, reproducible, and economically viable device. The methodology follows a sequential engineering design process, beginning with the definition of functional, geometric, and structural requirements based on anthropometric criteria of an average adult population. Based on these requirements, a complete CAD model of the prosthesis was developed, incorporating a direct actuation architecture using servomotors and eliminating tendon-driven transmission systems. This approach simplifies system kinematics, assembly, and maintenance. Material selection prioritized mechanical strength, low weight, manufacturability, and cost efficiency. Structural validation was performed through finite element simulations under load scenarios associated with functional grasping, showing stresses and deformations within acceptable limits. Additionally, the cylindrical grasp motion was simulated to verify finger range of motion and force transmission. In parallel, the electrical performance of the system was estimated, determining energy consumption, required power, and the feasibility of an appropriate power supply. Overall, the results demonstrate that the proposed design meets the established objectives and provides a solid foundation for future fabrication and experimental validation.