robot hand || bionic hand prosthesis prototype

Description

This bionic hand is controlled by an arduino nano V3 and uses 4 15kg servo's to move the index, middel, ring and little finger and 3 9g servo's to rotate the thumb and pull the tumb and the fingers open. This bionic hand it's structure is modelled after my hand so I could make a gel10 mold that would fit snug around it. I originally wanted to integrate some force feedback in the finger tips by using some small pushbuttons. This didn't turn out to well because the wires from the pushbuttons in combination with the gel10 mold caused to much friction in the joints of the fingers and the fingers had to push to hard to activate the pushbuttons. I'm now going to do some tests with currentsensors so I can messure the current going to the servo's and when the current goes above the normal level then the servo's would stop (that's the idea).

Details

STL and Fusion 360 source files can be found here: https://bbprojects.technology/collections/stl-fusion-360-source-files/products/robot-hand-bionic-hand-prosthesis-prototype

video:

Files

circuit diagram bionic arm V3.PNG

this is the layout for the arduino board that I soldered

Portable Network Graphics (PNG) - 45.30 kB - 03/24/2018 at 10:56

Preview

bionic_hand_code_V1.ino

This is the code for the arm as you see it in the youtube video

ino - 12.80 kB - 03/24/2018 at 10:51

Download

Discussions

gary.perceval wrote 01/16/2023 at 04:54

Hi Brian..all working, thank you! I had wired my momentary switch's S1 and S7 90 degrees out on the veroboard, so pressing them did nothing....doh! I can send you some pictures if you are interested cheers Gary

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gary.perceval wrote 01/07/2023 at 07:55

Hi Brian, I had some servos plugged incorrectly.. and I think thumb rotate servo should have a stop on it..just spins for now so will work on it. I have posted a picture of my copy of your great design.. in "I built it" cheers Gary

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gary.perceval wrote 01/06/2023 at 12:26

Hi Brian, not sure if you still look at these comments, but I have built your project recently and am finishing off the springs and outer two servos for the Thumb. I will have to check the code supplied as some finger servos move on initial power up but none of the switches move the fingers. One switch allows a binary pattern on the leds as I press it..but that is all. Is there another version of the .ino file please?

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Brian Brocken wrote 01/06/2023 at 12:38

Hello Gary, the first button indeed selects the desired program and this is displayed with a binary pattern on the LEDs. The second button excecutes the selected program. Did you wire everything up according to the circuit diagram provided on this page? Sounds to me you might've missed the connection from the ground of the servo's to the ground of the Arduino. Could you check this for me and let me know?

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Anshul Kumar wrote 09/27/2020 at 12:05

Hi sir I am a student in India and i got a project in a competetion . and I decided to make a robotic hand . Please tell me how i can control its hand by flex sensor. and please also tell the full cost of the robot .

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m.cannaby wrote 02/19/2020 at 14:04

Hello
I have made the PCB for the hand the same as yours, not using the expansion I/O board now . this is my third attempt second on perf board. I can get the switches working and the LED's switch modes, but I cant get the servos to operate. as you said I have used two power supplies, one to the Nano and the other to the servos.
The first attempt the Nano got so hot but not a wiring problem ???
The second attempt was on hookup board this runs cool led's and switches work etc. but still no servo moment.
Can you tell me poss why and what do all the switches do.

Is there a mode that operates each finger manually.
Mike

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Jacob Valdez wrote 02/16/2020 at 14:30

Thank you for the excellent design! What is the maximum load it has sustained?

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Ariel Van C. Gertos wrote 01/19/2020 at 00:32

Man, What is that thing you use to merge nylon wires???

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Joe darling wrote 07/07/2019 at 21:36

Hi, Thank you for the really great design! I am trying to make this project but the bottom joint of finger I have printed out doesn't seem to have anything to stop it when it is straight. I.e. it goes all the way back when you pull the string to straighten it. Is there any way to stop it doing this please?

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Brian Brocken wrote 12/29/2019 at 15:08

I used a piece of wire glued to both ends to stop it from going to far

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hendraabw8 wrote 03/14/2019 at 13:11

what about the old coding..?arduino? Plesee

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Brian Brocken wrote 12/29/2019 at 15:07

Old coding?

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ckmidhun311 wrote 12/30/2018 at 07:08

Hi I am Midhun from India(kerala). I am doing final year EE. I am doing prosthetic arm as my final year project i could see these links are pretty useful.

How about your taking feedback from current sensor. Which sensor did you take for the same?

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kumar.simms wrote 09/10/2018 at 19:59

Hello,

My name is Kumar Simms and am a student work study at Community College of Allegheny County. Learning to put this together and would love if I could ask questions I have of the smaller details through contact. My email is kumar.simms@acd.ccac.edu.

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Isaac wrote 08/21/2018 at 17:00

I like this project very much! I'm a left hand amputee myself, and I'd like to build this and try it out. Are there assembly instructions? The video moves much too fast to follow.

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Brian Brocken wrote 12/07/2018 at 18:37

Hello Isaac. I'm sorry i missed your comment. It would be great if the prosthesis could help you! How's the build going? If you have any questions about the project, you can always send me a private message. Best regards, Brian

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Bob wrote 06/04/2018 at 19:49

Hi, My son and I built a very similar project for a prosthetic hand competition. We found several advantages to using gear motors (strength, torque, size ..) similar to this: https://www.ebay.com/i/311900465658?chn=ps

And we were able to use back EMF to measure force / speed using the method outlined here: https://robidouille.wordpress.com/2009/09/20/back-emf/

I'm not and EE but it was very effective and worked well for us.

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Brian Brocken wrote 06/04/2018 at 19:52

Very nice and thank you very much for the links. They are quite usefull.

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Sinan Caglan wrote 04/12/2018 at 08:41

Congratulations i like your project.

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Brian Brocken wrote 04/24/2018 at 20:56

Thank you Sinan Caglan!

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Reginald Sourn wrote 03/24/2018 at 11:37

Keep going i really like your project

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Brian Brocken wrote 03/27/2018 at 11:52

Thank you very much alpha le ciel!

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robot hand || bionic hand prosthesis prototype

Description

Details

Files

circuit diagram bionic arm V3.PNG

bionic_hand_code_V1.ino

Components

Discussions

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robot hand || bionic hand prosthesis prototype

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Description

Details

Files

circuit diagram bionic arm V3.PNG

bionic_hand_code_V1.ino

Components

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