1. Seminar onEMG Driven IPMC BasedArtificial Muscle FingerPresented by:BIBI ABIDAM.Tech 1st year 2ndsemBio-MedicalEngineering

2. Contents: Introduction Design & Control Actuation mechanism of IPMC Basic tendon of index finger Model for controlling EMG signal Experimental testing set up Advantages Conclusion References 3. Introduction The medical, rehabilitation and bio-mimetictechnology demands human actuated devices. They support in the daily life activities such asfunctional assistance or functional substitution of human organs. Major challenges are:the acquisition of the users intention from his or herbionic signalsto provide with an appropriate control signal for thedevice.need to consider the mechanical design issues such aslightweight and small size with flexible behavior. For bionic signals, EMG signal can be used to controlthese devices. 4. Introduction (contd..) EMG reflects the muscles motion, and can beacquired from the body surface. Ionic polymer metal composite (IPMC) hastremendous potential as an artificial muscle. This can be stimulated by supplying a small voltage of3V and shows evidence of a large bending behavior. In place of the supply voltage from external source foractuating an IPMC, EMG signal can be used whereEMG electrodes show a reliable approach to extractvoltage signal from body. Using this voltage signal via EMG sensor, IPMC canillustrate the bio-mimetic behavior through themovement of human muscles. Hence, , an IPMC is used as an artificial muscle finger 5. Design and control An IPMC strip (Size 40 mm 10 mm 0.2 mm) fixedwith holder and another plastic based finger of similarsize is made for supporting the micro object . 6. Actuation mech. of IPMC 7. Basic tendon of index finger foridentification of EMG signal 8. Block diagram of EMG signal behaviour fromhuman index finger 9. Acquired data from finger muscles viaEMG signal 10. Block diagram of EMG signal via humanfinger after applying PID control system 11. Experimental testing setup 12. Advantages: Low voltage in man-machine interface. Large bending amplitude. Simple control that are applied in development ofmicro/bio robot. Actuating through a small voltage(3 v), Light in weight, Flexible in nature. Does not involve sophisticated controllers foroperation Voltage is taken from human index finger throughEMG sensor instead of battery source. A suitable finger for holding the object in the fields ofmicro manipulation. Replacement of an electro-mechanical system likeelectric motors in the application field of rehabilitation 13. Conclusion : Experimentally, it is demonstrated that IPMC basedartificial muscle finger is capable of adopting thisvoltage from EMG signal and mimics as a humanfinger. IPMC can be activated through EMG signal and isapplicable as flexible and compliant finger for holdingthe object in the fields of micro manipulation. In future, IPMC based micro robotic arm along withmultiple IPMC artificial fingers will be used. It can be a replacement of an electro-mechanicalsystem like electric motors in the application field ofrehabilitation technology. 14. References Jain R. K., Datta S., Majumder S., Chowdhury S. & Banerjee P.(2011). IPMC artificial muscle finger activated through EMG.Worldwide EAP newsletter on http://www.EAPnewsletter. Vol. 13,No 01, June (The 25th issue), pp.10-12. Ahmad I., Ansari F. & Dey U. K. (2012). A review of EMG recordingtechnique, International Journal of Engineering Science andTechnology, Vol. 4, No. 2, pp. 530-539. Andreasen D. S., Allen S. K. & Backus D. A. (2005). Exoskeletonwith EMG based active assistance for rehabilitation, Proceedings ofthe 2005 IEEE 9th International Conference on RehabilitationRobotics, Chicago, IL, USA, June 28 - July 1, pp. 333-336. Andrews J. (2008). Finger movement classification using forearmEMG signals, MS Thesis, Queen's University, Kingston Ontario,Canada 15. Thank you