Build Instructions

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• 1

  Print

  Download and use these files to print the different parts : https://www.thingiverse.com/thing:380665/#instructions
  

  You will need to print 7 parts of the hand : - Bat Connection

  - Finger Hinge Plate

  - Flexy Hinge Plate

  - Gauntlet (Long or Short however you choose)

  - Finger Plate

  - Hand Body

  - Thermoform Palm

  For the flexible and non-flexible parts we printed almost everything except the Flexy Hinge Plate in non-flexible material. But you can print it in whichever plastic you feel is best for each part.

• 2

  Code for the sensor and servo motor

  #include 
  
  //Threshold for servo motor control with muscle sensor. 
  //You can set a threshold according to the maximum and minimum values of the muscle sensor.
  #define THRESHOLD 130
  
  //Pin number where the sensor is connected. (Analog 0)
  #define EMG_PIN 0
  
  //Pin number where the servo motor is connected. (Digital PWM 3)
  #define SERVO_PIN 3
  
  //Define Servo motor
  Servo SERVO_1;
  
  /*-------------------------------- void setup ------------------------------------------------*/
  
  void setup(){
    
    
    //Set servo motor to digital pin 3
    SERVO_1.attach(SERVO_PIN);
  }
  
  /*--------------------------------  void loop  ------------------------------------------------*/
  
  void loop(){
  
    //The "Value" variable reads the value from the analog pin to which the sensor is connected.
    int value = analogRead(EMG_PIN);
  
    //If the sensor value is GREATER than the THRESHOLD, the servo motor will turn to 170 degrees.
    if(value > THRESHOLD){
      SERVO_1.write(170);
    }
  
    //If the sensor is LESS than the THRESHOLD, the servo motor will turn to 10 degrees.
    else{
      SERVO_1.write(10);
    }
  
    //You can use serial monitor to set THRESHOLD properly, comparing the values shown when you open and close your hand.
    Serial.println(value);
  }
  
  
  

  Don't forget to first visualize  the signal received from the muscle sensor with the analog sensor code which you can find in arduino example codes to establish the threshold.

  ---

  We, first, wanted to do our project with a muscle sensor but is quite difficult. However, here, you can see what it would have looked like.

• 3

  Assemble

  For the third step, assemble everything, the arduino card and the flexy-hand and try to make everything work. Here are pictures of all the cable placement between the arduino card, the servo motor and the potentiometre ( the muscle sensor broke). we can also find the circuits on the internet.
  

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