Biomedical Science and Engineering PhD Thesis Defense by Sarmad Shams







Title: Development of Anthropomorphic Prosthetic Hand and Control Scheme for Transhumeral Amputee


Speaker: Sarmad Shams.


Time: August 14, 2017, 13:00


Place: MARC Lab ENG B203

Koç University

Rumeli Feneri Yolu

Sariyer, Istanbul

Thesis Committee Members:

Prof. Dr. İsmail Lazoğlu (Advisor, Koç University)

Prof. Dr. Kemal Türker (Co Advisor, Koç University)

Prof. Dr. Halil Kavaklı (Koç University)

Assoc. Prof. Dr. Kaan Güven (Koç University)

Assist. Prof. Dr. Ali Fethi Okyar (Yeditepe University)

Assist. Prof. Dr. Seyed Ehsan Layegh Khavidaki (MEF University)


An artificial hand or prosthesis is a device used by the amputee to replace his/her missing limb or limb portion. The prosthesis improves the life of the amputee by allowing them to perform activities of daily life without anyone’s assistance. This dissertation describes the designing, mechanism analysis, FEA simulations, experimental analysis, the control scheme and development of a linear actuator based anthropomorphic prosthetic hand (MARCAPH) for transhumeral or near-elbow amputees. The MARCAPH comprises of 4 underactuated fingers with four bar mechanism, driven by the linear actuator through slider crank mechanism and a thumb driven by the linear actuator using slider crank mechanism. Each finger is derived individually by a linear actuator to perform the flexion-extension motion. On the other hand, the thumb is controlled by 2 actuators, one for circumduction and one for flexion-extension. The MARCAPH mechanism is analyzed using MATLAB and then design in a CAD software. The designed CAD model of the finger and thumb is then simulated using FEA software. The final design passes through a number of modifications and redesigning before achieving desired ruggedness, clearance, and interference, in order to produce the grips that are essential for activities of daily living (ADL). The prosthetic hand is then 3D printed, assembled and experimented under predefined conditions to ensure that the 3D printed hand is capable of performing the simulated grips. Each grip of the prosthetic hand is achieved by using position control algorithm underneath the finite state machine, that is, controlled by 2 channel differential EMG electrodes placed on the biceps and triceps muscles of the amputee’s arm. This dissertation also covers the design process, kinematics, and control scheme developed for the MARCAPH. Moreover, in the last chapter, a brief comparison is provided between the MARCAPH and available state of the art prosthetic hands data.