-
1You can download Instrucitons "BuildInstruction1.pdf" (1.4 MBytes) from the Files here
You can download Build Instruction BuildinstructionP0.pdf from the files section here of from
-
2Mathematics and program of the ReHab Helper - supplement to the main Build Insturction
Supplement to the main Instruction - mathematics and calculations of 5-bar linkage and some program specification. You can download from the files section here of from
-
3Here we show the main stages of project. The drawings of lever arms and servo bases
We use the simplest analogue servo. You can use any kind of servos. The bases, lever arms are shown in a figure:
The only difficult part of mechanics component fabrication is lever arm 12. The perforation on arm must fit servo shaft perforation. We make perforation by drilling 20 holes via 18° (our servo shaft has 20 teeth) with 1mm radius drill with centers on the R=1.87 mm circle.
-
4Here is one block assembled
The size of components are defined by the servo in use. We made all drawings for Servo mini SG90 9g Tower Pro. Here is one block
-
5Magnetic Button Clasp Snaps
We use 3/4-inch size Magnetic Button Clasp Snaps. It is screwed with two node lever arms so it can be rotated.
-
65 block on a breadboard
We took plastic breadboard and install 5 blocks on it, for example it is left hand drawing
-
7Installing blocks on the breadboard
Here You can see the breadboard with installed blocks and fully assembled
The bottom basde breackboard is closed by second breadbord (cutted)
-
8Programming
Program code is Arduino IDE compatible. You can download code from git hab https://github.com/DrOnkel/Rehab/tree/ReHab0 or Hackaday project file section.
Download the program to Your Arduino Nano using Arduino IDE. You can download it from arduino.cc .
The movement is defined by arrays MassX[8][2]. It contains 8 main points of finger base path. The movement between main points is calculated using linear interpolation. The full review of program code is in Program instruction.
Discussions
Become a Hackaday.io Member
Create an account to leave a comment. Already have an account? Log In.