How to Make a Remote Controlled Robotic Hand with Arduino

1/*
2Flex Glove
3
4Created by Santin Gabriele, 2014
5I.T.S.T. "J.   F. Kennedy", cl. 5^A EA
6Thanks to Elias De Lamper for suggestions to improve   this program!
7*/
8
9int ResThumb   = A4;  // Variables of the analog read   form the flex sensors connected to the analog pins of Arduino LilyPad
10int ResIndex    = A3;  
11int ResMiddle  = A2;
12int ResAnnular = A1;
13int ResPinky   = A0;
14
15int   OpenedThumb   =0; // Variables of the values when the hand is completely opened
16int   OpenedIndex   =0; // This is needed for a continuous calibration
17int OpenedMiddle   =0;
18int OpenedAnnular =0;
19int OpenedPinky   =0;
20
21int ClosedThumb;       // Variables of the values when the hand is completely closed
22int ClosedIndex;       // We can't set it to zero since that the minimum value reached
23int ClosedMiddle;      // in the analog read never reach zero. We'll assign the value of
24int ClosedAnnular;     // a first analog read, then the program in the loop will
25int ClosedPinky;       // automatically  assing lower values
26
27int thumb   =0;       // Variables   of the values to send
28int index   =0;
29int middle  =0;
30int annular =0;
31int   pinky   =0;
32
33
34void setup()
35{
36  Serial.begin(9600);   // Activating   serial communication, XBee Series 1 are pre-programmed at 9600 baud/s
37  
38   pinMode(ResThumb,   INPUT);   // The variables of the sensor are set as input
39   pinMode(ResIndex,   INPUT);
40  pinMode(ResMiddle,  INPUT);
41  pinMode(ResAnnular,   INPUT);
42  pinMode(ResPinky,   INPUT);
43
44  ClosedThumb   = analogRead(ResThumb);
45   ClosedIndex   = analogRead(ResIndex);  
46  ClosedMiddle  = analogRead(ResMiddle);   
47  ClosedAnnular = analogRead(ResAnnular);
48  ClosedPinky   = analogRead(ResPinky);   
49}
50
51void loop()
52{
53  thumb   = analogRead(ResThumb);  
54  index    = analogRead(ResIndex);  
55  middle  = analogRead(ResMiddle); 
56  annular   = analogRead(ResAnnular);
57  pinky   = analogRead(ResPinky);  
58  
59  if(thumb    > OpenedThumb)   // Calibration reading and setting the maximum values. This   needs you to completely open your hand a few times
60  OpenedThumb   = thumb;
61   if(index   > OpenedIndex)
62  OpenedIndex   = index;
63  if(middle  >  OpenedMiddle)
64   OpenedMiddle  = middle;
65  if(annular > OpenedAnnular)
66  OpenedAnnular =   annular;
67  if(pinky   > OpenedPinky)
68  OpenedPinky   = pinky;
69  
70  if(thumb    < ClosedThumb)  // Calibration reading and setting the minimum values. This needs   you to completely close your hand a few times
71  ClosedThumb   = thumb;
72  if(index    < ClosedIndex)
73  ClosedIndex   = index;
74  if(middle  < ClosedMiddle)
75   ClosedMiddle  = middle;
76  if(annular < ClosedAnnular)
77  ClosedAnnular =   annular;
78  if(pinky   < ClosedPinky)
79  ClosedPinky   = pinky;
80  
81  thumb    = map(thumb  ,ClosedThumb  ,OpenedThumb  ,0,180);  // The analog read has to   be readapted in values between 0 and 180 to be used by the servomotors.
82  index    = map(index  ,ClosedIndex  ,OpenedIndex  ,0,180);  // The minimum and maximum   values from the calibrations are used to correctly set the analog reads.
83  middle   = map(middle ,ClosedMiddle ,OpenedMiddle ,0,180);
84  annular = map(annular,ClosedAnnular,OpenedAnnular,0,180);   
85  pinky   = map(pinky  ,ClosedPinky  ,OpenedPinky  ,0,180);
86  
87  Serial.write("<");       // This character represent the beginning of the package of the five values
88   Serial.write(thumb);    // The values are sent via the Tx pin (the digital pin   1)
89  Serial.write(index);  
90  Serial.write(middle);  
91  Serial.write(annular);
92   Serial.write(pinky);
93  
94  delay(30);
95}
96

1/*
2Flex Glove
3
4Created by Santin Gabriele, 2014
5I.T.S.T. "J.
6  F. Kennedy", cl. 5^A EA
7Thanks to Elias De Lamper for suggestions to improve
8  this program!
9*/
10
11int ResThumb   = A4;  // Variables of the analog read
12  form the flex sensors connected to the analog pins of Arduino LilyPad
13int ResIndex
14   = A3;  
15int ResMiddle  = A2;
16int ResAnnular = A1;
17int ResPinky   = A0;
18
19int
20  OpenedThumb   =0; // Variables of the values when the hand is completely opened
21int
22  OpenedIndex   =0; // This is needed for a continuous calibration
23int OpenedMiddle
24  =0;
25int OpenedAnnular =0;
26int OpenedPinky   =0;
27
28int ClosedThumb;
29      // Variables of the values when the hand is completely closed
30int ClosedIndex;
31      // We can't set it to zero since that the minimum value reached
32int ClosedMiddle;
33     // in the analog read never reach zero. We'll assign the value of
34int ClosedAnnular;
35    // a first analog read, then the program in the loop will
36int ClosedPinky;
37      // automatically  assing lower values
38
39int thumb   =0;       // Variables
40  of the values to send
41int index   =0;
42int middle  =0;
43int annular =0;
44int
45  pinky   =0;
46
47
48void setup()
49{
50  Serial.begin(9600);   // Activating
51  serial communication, XBee Series 1 are pre-programmed at 9600 baud/s
52  
53
54  pinMode(ResThumb,   INPUT);   // The variables of the sensor are set as input
55
56  pinMode(ResIndex,   INPUT);
57  pinMode(ResMiddle,  INPUT);
58  pinMode(ResAnnular,
59  INPUT);
60  pinMode(ResPinky,   INPUT);
61
62  ClosedThumb   = analogRead(ResThumb);
63
64  ClosedIndex   = analogRead(ResIndex);  
65  ClosedMiddle  = analogRead(ResMiddle);
66  
67  ClosedAnnular = analogRead(ResAnnular);
68  ClosedPinky   = analogRead(ResPinky);
69  
70}
71
72void loop()
73{
74  thumb   = analogRead(ResThumb);  
75  index
76   = analogRead(ResIndex);  
77  middle  = analogRead(ResMiddle); 
78  annular
79  = analogRead(ResAnnular);
80  pinky   = analogRead(ResPinky);  
81  
82  if(thumb
83   > OpenedThumb)   // Calibration reading and setting the maximum values. This
84  needs you to completely open your hand a few times
85  OpenedThumb   = thumb;
86
87  if(index   > OpenedIndex)
88  OpenedIndex   = index;
89  if(middle  >  OpenedMiddle)
90
91  OpenedMiddle  = middle;
92  if(annular > OpenedAnnular)
93  OpenedAnnular =
94  annular;
95  if(pinky   > OpenedPinky)
96  OpenedPinky   = pinky;
97  
98  if(thumb
99   < ClosedThumb)  // Calibration reading and setting the minimum values. This needs
100  you to completely close your hand a few times
101  ClosedThumb   = thumb;
102  if(index
103   < ClosedIndex)
104  ClosedIndex   = index;
105  if(middle  < ClosedMiddle)
106
107  ClosedMiddle  = middle;
108  if(annular < ClosedAnnular)
109  ClosedAnnular =
110  annular;
111  if(pinky   < ClosedPinky)
112  ClosedPinky   = pinky;
113  
114  thumb
115   = map(thumb  ,ClosedThumb  ,OpenedThumb  ,0,180);  // The analog read has to
116  be readapted in values between 0 and 180 to be used by the servomotors.
117  index
118   = map(index  ,ClosedIndex  ,OpenedIndex  ,0,180);  // The minimum and maximum
119  values from the calibrations are used to correctly set the analog reads.
120  middle
121  = map(middle ,ClosedMiddle ,OpenedMiddle ,0,180);
122  annular = map(annular,ClosedAnnular,OpenedAnnular,0,180);
123  
124  pinky   = map(pinky  ,ClosedPinky  ,OpenedPinky  ,0,180);
125  
126  Serial.write("<");
127      // This character represent the beginning of the package of the five values
128
129  Serial.write(thumb);    // The values are sent via the Tx pin (the digital pin
130  1)
131  Serial.write(index);  
132  Serial.write(middle);  
133  Serial.write(annular);
134
135  Serial.write(pinky);
136  
137  delay(30);
138}
139

1/*
2Flex Glove
3
4Created by Santin Gabriele, 2014
5I.T.S.T. "J.  F. Kennedy", cl. 5^A EA
6Thanks to Elias De Lamper for suggestions to improve  this program!
7*/
8
9int ResThumb   = A4;  // Variables of the analog read  form the flex sensors connected to the analog pins of Arduino LilyPad
10int ResIndex   = A3;  
11int ResMiddle  = A2;
12int ResAnnular = A1;
13int ResPinky   = A0;
14
15int  OpenedThumb   =0; // Variables of the values when the hand is completely opened
16int  OpenedIndex   =0; // This is needed for a continuous calibration
17int OpenedMiddle  =0;
18int OpenedAnnular =0;
19int OpenedPinky   =0;
20
21int ClosedThumb;      // Variables of the values when the hand is completely closed
22int ClosedIndex;      // We can't set it to zero since that the minimum value reached
23int ClosedMiddle;     // in the analog read never reach zero. We'll assign the value of
24int ClosedAnnular;    // a first analog read, then the program in the loop will
25int ClosedPinky;      // automatically  assing lower values
26
27int thumb   =0;       // Variables  of the values to send
28int index   =0;
29int middle  =0;
30int annular =0;
31int  pinky   =0;
32
33
34void setup()
35{
36  Serial.begin(9600);   // Activating  serial communication, XBee Series 1 are pre-programmed at 9600 baud/s
37  
38  pinMode(ResThumb,   INPUT);   // The variables of the sensor are set as input
39  pinMode(ResIndex,   INPUT);
40  pinMode(ResMiddle,  INPUT);
41  pinMode(ResAnnular,  INPUT);
42  pinMode(ResPinky,   INPUT);
43
44  ClosedThumb   = analogRead(ResThumb);
45  ClosedIndex   = analogRead(ResIndex);  
46  ClosedMiddle  = analogRead(ResMiddle);  
47  ClosedAnnular = analogRead(ResAnnular);
48  ClosedPinky   = analogRead(ResPinky);  
49}
50
51void loop()
52{
53  thumb   = analogRead(ResThumb);  
54  index   = analogRead(ResIndex);  
55  middle  = analogRead(ResMiddle); 
56  annular  = analogRead(ResAnnular);
57  pinky   = analogRead(ResPinky);  
58  
59  if(thumb   > OpenedThumb)   // Calibration reading and setting the maximum values. This  needs you to completely open your hand a few times
60  OpenedThumb   = thumb;
61  if(index   > OpenedIndex)
62  OpenedIndex   = index;
63  if(middle  >  OpenedMiddle)
64  OpenedMiddle  = middle;
65  if(annular > OpenedAnnular)
66  OpenedAnnular =  annular;
67  if(pinky   > OpenedPinky)
68  OpenedPinky   = pinky;
69  
70  if(thumb   < ClosedThumb)  // Calibration reading and setting the minimum values. This needs  you to completely close your hand a few times
71  ClosedThumb   = thumb;
72  if(index   < ClosedIndex)
73  ClosedIndex   = index;
74  if(middle  < ClosedMiddle)
75  ClosedMiddle  = middle;
76  if(annular < ClosedAnnular)
77  ClosedAnnular =  annular;
78  if(pinky   < ClosedPinky)
79  ClosedPinky   = pinky;
80  
81  thumb   = map(thumb  ,ClosedThumb  ,OpenedThumb  ,0,180);  // The analog read has to  be readapted in values between 0 and 180 to be used by the servomotors.
82  index   = map(index  ,ClosedIndex  ,OpenedIndex  ,0,180);  // The minimum and maximum  values from the calibrations are used to correctly set the analog reads.
83  middle  = map(middle ,ClosedMiddle ,OpenedMiddle ,0,180);
84  annular = map(annular,ClosedAnnular,OpenedAnnular,0,180);  
85  pinky   = map(pinky  ,ClosedPinky  ,OpenedPinky  ,0,180);
86  
87  Serial.write("<");      // This character represent the beginning of the package of the five values
88  Serial.write(thumb);    // The values are sent via the Tx pin (the digital pin  1)
89  Serial.write(index);  
90  Serial.write(middle);  
91  Serial.write(annular);
92  Serial.write(pinky);
93  
94  delay(30);
95}
96