Frank Miller is 58 years old and has a semi paralysis in the left part of his body. A condition that he suffered after brain tumour removal. He wants to recover the movement of the hand in order to be independent in different daily activities. Being at home, he would like to be able to do things like grasping a coffee mug, opening an envelope and using the mouse and keyboard. He lives in the most industrial region of Germany, nevertheless there isn’t any kind of orthosis that can help his symptoms. Furthermore, the treatment therapies and infrastructure, in his situation implicate a huge cost. It is expected that he will recover a little bit of the movement of the hand in the long run.
What will it do?
MyOrthotic is the solution to this case. Using digital Manufacturing to actuate in an individual case implementing 3D scanning, electronics and different 3D Printing techniques, to produce a proper solution in an efficient procedure for Frank. The Modelling: The model has a semi parametric design The arm is scannable and you can easily modify the 3D Scan in the 360 Fusion autodesk. The phalanges were modelled in a parametric design in order to adequate for each finger and also for in future to adequate this model for different patients.
The design: The splint is designed to perform the following tasks: To immobilize the forearm and place the hand and wrist in an adequate position. The first part covers the back of the hand and the wrist stabilizing the position of the hand. The external surface at the same time, supports the electronics the micro controller board and servo motors, in order to attach and stabilize the hold function of movement in the fingers. The second part is located at the end of the forearm, which provides a better support of the orthotic structure, and stabilizes the forces of the arm. Flexible materials are implemented in this part, (innoflex natural white) in order to provide a comfortable form and movement of the muscles.
The design of the fingers comes as an inspiration from the 3D printed rehabilitation Orthosis form ZMorph and Eliza Wrobe, and from the understanding of the movement of the fingers. The design of each finger is made in 360 Fusion with modifications to improve the use and comfortability of the phalanges, basically in the joints assembly and the structure, which is responsible for distributing the force in the fingers. The printed parts are printed in the Formlabs with clear resin, providing a flat and fine surface that allows a smooth and comfortable contact with the skin.
Who's done what beforehand?
http://enablingthefuture.org/upper-limb-prosthetics/the-raptor-hand/ Developed collaboratively by some of e-NABLE’s top designers, the Raptor Hand is designed with ease of printing and assembly in mind. Features include 3D printed snap pins, a modular tensioning system, and compatibility with both velcro and leather palm enclosures.
The Raptor Hand is licensed under the Creative Commons-Attribution-Share Alike license.
http://blog.zmorph3d.com/3d-printed-rehabilitation-orthosis/ The Making of a 3D Printed Rehabilitation Orthosis With this 3D printed rehabilitation orthosis a disabled man can perform physical activities. Prototype of the device was manufactured on ZMorph hybrid 3D printer. [UPDATE: Source files are now available for free download from Instructables] Medical 3D printing has many applications in various fields. In orthotics, industrial 3D printers are used to manufacture custom-sized orthoses, braces as well as prosthesis and parts for powered exoskeletons. First two helps patients with broken bones while the latter are used for amputees.
There’s still a lot of untapped potential for helping the patients with cases of mild and partial paresis who need lighter and more comfortable 3D printed rehabilitation orthosis which won’t harm their existing but weak extremities. http://biorobotics.snu.ac.kr/rehabilitation-robot/exo-glove-poly/?ckattempt=2
In the second week I did some for finger for prosthetics, working with the design of the joints, And I printed it in an Ultimaker Also al I printed a part of the the raptor hand from enabling future community,(http://enablingthefuture.org/upper-limb-prosthetics/the-raptor-hand/ ) looking for the for of movement in this case they elastic bands and threads. Also I did some trials making simulating the movement of the fingers and three servomotors with a piece of fabric.
Experimenting with the force of the motor and the torque of the motor. In this cases I didn’t achieve only the reflection of the fingers , but not the flexion. In this case I had to look for a stable option. But in this case I needed a strong structure for supporting the hold hand movements, in fac i design a structure simulating a exosquelette.
materials and components will be required?
TOTAL 179.8741667 EUROS
What parts and systems will be made?
The model has a semi parametric design The arm is scannable and you can easily modify the 3D Scan in the 360 Fusion autodesk.
The phalanges were modelled in a parametric design in order to adequate for each finger and also for in future to adequate this model for different patients.
The splint is designed to perform the following tasks: To immobilize the forearm and place the hand and wrist in an adequate position.
The first part covers the back of the hand and the wrist stabilizing the position of the hand.
The external surface at the same time, supports the electronics the micro controller board and servo motors, in order to attach and stabilize the hold function of movement in the fingers.
The second part is located at the end of the forearm, which provides a better support of the orthotic structure, and stabilizes the forces of the arm. Flexible materials are implemented in this part, (innoflex natural white) in order to provide a comfortable form and movement of the muscles. The design of the fingers phalanges comes as an inspiration from the 3D printed rehabilitation Orthosis form ZMorph and Eliza Wrobe, and from the understanding of the movement of the fingers.
The design of each finger is made in 360 Fusion with modifications to improve the use and comfortability of the phalanges, basically in the joints assembly and the structure, which is responsible for distributing the force in the fingers. The printed parts are printed in the Formlabs with clear resin, providing a flat and fine surface that allows a smooth and comfortable contact with the skin.
MyOrthotic focus on the 3 principal movements index , the thumb and middle finger movements. Ith movem are activated through two Myo ware Sensors in or the two combine different functions. The Myo Sensors, as the input devices, are attached to the biceps and triceps for controlling the hold functions, tru the impulses (please see the Input device page.)
The Microcontroller board, based on the Satshakit, is designed to host and control sending the analog signals it means the impulse to catch /grasp the object or make a flexion , and athe second
For Index and thumb Finger there is a servomotor for each one, it is responsible for the flexion and extension, The Index which is the most important finger in which I based the implementation of the phalanges design. The thumb has two phalanges, stead to create a circumduction movement (circular movement of the finger) it has a linear movement that is synchronized to the Index finger for grasping objects. The middle Finger motor is attached to the two others finger to achieve the hold movement of the hand.
The what processes will be used?
Input and Output Device
Techniques that support this process:
Molding and casting
What tasks need to be completed?
The mapping of the sensors and calibration of the motors
The adjustment of the exoskeleton
The adjustment of the design of the finger phalanges ( Additionally for more precision I should do the mold and cast of the Franks hand)
The case of the Electronics
The integration of the textile in the Orthotic.
As I expressed in the Final Presentation this is still a work in progress , I will continue until the orthotic respond to the franks disability. Nevertheless, I feel , it is the beginning of a n amazing labour. what questions need to be answered? I think in each assignment I have the relative question relative this case. I think this orthosis will respond to the specific need of the Frank miller Disability, and also respond to the development of a biomechanical basic functions.
what is the schedule?
10 May: Visit Hodey
15 May: Test wit the SMA Nitinol wire wire,
18 May: Evaluating the Actuators, Servo motors Pneumatic motors, Stepper motors.
20 May: I change the idea of the use of this to the use od Servo motor , for simplify the work and focussing te work in the development of the biomecanics for the orthotics.
31 May: Function of the myoware and the libraries With the a simple Arduino sketch I could control the servomotor with the myoware. Test with the Myoware and the my Gyro SK.
1 Jun : VIsit Frank miller Looking the Diagnostic and looking if the system and the tools that I test at this point Could help in the recovering of the movement With the help of the therapist we look wich movement were needed and I proceeded to work with the movements References of the E-nable Prosthetics and orthotics
2 June: Test impression of the first finger , reference of the fingers and evaluation of the model . Print in different Printer for more precision and and good finishing , also friendly with the skin.
4 June: After the light exposition of the 3D printed parts, I could test the accuracy and also the print more pieces for looking the references for the printing the splint for the hand.
5 June: Assembly hand Desition of the Biomechanical function, and test of the connection in a simple System. Amaking an aditional laser cutting prototiping to improve the toque strengh of the motor Structure reference from the project My Arm.
6 June: Second meeting with frank Miller Test of the finger movement, Presentation of the concept , and taking measures for the final design of the Orthotics. Working with the finalization of the model.
8 june (test with the spring design ) Design Testing the Finger for a flexible Falanx. Wit the stretchable material and strong materials in once , looking the integration of both falanx Failed triel . (the extrong material breaks to quick) the flexibla mateilas has as big shrimp compration that y dides calculate , in adition I can not retair the suporrt material without damaging the structure.
9 june: Testing the part and the interaction of the Myo Ware connection of the myoware to the SatshaKit and assembling the satshakit + myoware + Motor + Orthotics Prototype. For this assembly I had to use a Breadboard for the extra connection f the power and pins for the motor
10 june: Making the Programming of the prototype, calibrating the motor, introduction of a new librari for better use of speed and torque. Design a new satshakit for adapting the functions of the 3 function of the fingers Thumb, Index and Middle. 3 Servos and 3 myoware. Milling the board.
11.june: Soldering the board thestin it and burn the bootloader through the arduino without problem !!! Downloading the datasheet for the resin of the formlabs Looking the material acceptance , and cautions of the skin irritation (email to formlabs about the use of a proper material for medical uses) Resolving the problems with the tank looking fr a solution to clean the tank of the printer , or buy another one
12 . june: Calibrating the sensor with the refine signal using the Interface in that way Frank can see the interaction ot the arm an the values. Design with the old 3D Scan doesn't works because we thought about the construction of a palm splint, but for better integration with the electronics and the construction of the finger I designed a top splint, making the adjustment with the the hold components as the inspiration of the master thesis of Z morph educational orthotics
13, june: 3 Meeting with Frank Miller testing the sensibility of the Frank’s arm, testing the MyOrthotic New Scanning of the top part of the Arm for the new design. And first test with the sensors. (looking the values of the sensors also loking if the sensor read the impulses of Frank.
14.june: Design of the Splint with the new 3D Scanning Printing in the Big Rep Troubleshooting: the material was out I change the materials but unfortunately the piece as to big (grande alta) and the original layer was moving a little bit.
15 june. Testing the splint with herr Miller, it works !!! Testing again the sensor for Mr. Miller and the work mechanisms of the splint. FRANK : this colors ??? :S I can not image tee final prosthetic !
16June: Working in the readjust for the finger from scrach tryng to elimaniate the screw stead it using the the pivot union. Redesign of the splint adjusting the fingers joints an the for Test in the in te big Rep The impresion of the Spint in flexible material. It doesnt work unfortunately ,
17. June: 5th meeting with Frank and the therapist looking the size and adjustment of the splint on the Frank’s arm. Testing of the finger, it doesn't work , bunt it is better from the form. Terapist recomendation: long of the splint the print wih the hand part in strong materila , and the other part in flexible material. Eliminate the complete round and making in a right form in order to improve the use of the splint 3 Triel in the Big Rep printing the orthotic in vertical orientation, unfortunately it didn,t woks because the printer had any material and print in the ari, for the qualyty I didn’T like the result I was to rough and I decided to print to part one in Networking posibility to find the radio antena.
18. June: Modelling of the finger and print the uniongs in two form in 1 assmabing directly , And the print in separatliy parts. The second trial works! Modelling 2 parts of the splint making the separatin of the flexible and the strong material . Using the asambing unis with joints and chanfers 19 june. Thinking the flexible splint Troubleshooting printing flexible materials with the ultimaker , 5 times repairing the printer due speed issues (please see the photos) printing the second model Finalizing the fingers
20 june: Assembling of the 3D Printing Pick up the textile in the Hodey Firmas And speaking shortly with the therapist about the changes Appointment with sher miller about the new design and test (bing the orthotic) Finalizing the fingers
21 june: changing the exoskeleton
how will it be evaluated?
The result of orthetics wil be evaluated by the Patient