Claw prosthesis controlled by myoelectric sensor

1#include <Servo.h>
2
3//Threshold for servo motor control with muscle  sensor.
4//You can set a threshold according to the maximum and minimum values  of the muscle sensor.
5#define THRESHOLD 200
6
7//Pin number where the sensor  is connected. (Analog 0)
8#define EMG_PIN 0
9
10//Define Servo motor
11
12const  int servoPinA = 4;
13Servo servoA;
14
15const int servoPinB = 5;
16Servo servoB;
17
18const  int servoPinC = 6;
19Servo servoC;
20
21const int servoPinD = 7;
22Servo servoD;
23
24/*--------------------------------  void setup ------------------------------------------------*/
25
26void setup()  {
27
28  //BAUDRATE set to 115200, remember it to set monitor serial properly.
29  //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
30  Serial.begin(115200);
31
32  servoA.attach(servoPinA);
33  servoB.attach(servoPinB);
34  servoC.attach(servoPinC);
35  servoD.attach(servoPinD);// damos um "start"  nos pulsos do servomotor, associando o pino de controle com a gerao de pulsos promovida  pela funo e mtodo - "servo.attach()"
36
37
38  openGripper();
39  //servoA.write(90);        // Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
40  //servoB.write(90);
41  //servoC.write(90);
42  //servoD.write(90);
43}
44
45/*--------------------------------  void loop  ------------------------------------------------*/
46
47void loop()  {
48
49  //The "Value" variable reads the value from the analog pin to which  the sensor is connected.
50  int value = analogRead(EMG_PIN);
51
52  //If the  sensor value is GREATER than the THRESHOLD, the servo motor will turn to 170 degrees.
53  if (Serial.available())
54  {
55    if (value > THRESHOLD) {
56      closeGripper();
57    } else {
58      openGripper();
59    }
60  }
61
62  //You can use serial  monitor to set THRESHOLD properly, comparing the values shown when you open and  close your hand.
63  Serial.println(value);
64}
65
66void openGripper() {
67
68  servoB.write(150);
69  servoC.write(0);
70  delay(500);
71  servoA.write(150);
72  servoD.write(0);
73
74}
75
76void closeGripper() {
77
78  servoB.write(0);
79  servoC.write(150);
80  delay(500);
81  servoA.write(0);
82  servoD.write(150);
83}
84

1#include <Servo.h>
2
3//Threshold for servo motor control with muscle
4  sensor.
5//You can set a threshold according to the maximum and minimum values
6  of the muscle sensor.
7#define THRESHOLD 200
8
9//Pin number where the sensor
10  is connected. (Analog 0)
11#define EMG_PIN 0
12
13//Define Servo motor
14
15const
16  int servoPinA = 4;
17Servo servoA;
18
19const int servoPinB = 5;
20Servo servoB;
21
22const
23  int servoPinC = 6;
24Servo servoC;
25
26const int servoPinD = 7;
27Servo servoD;
28
29/*--------------------------------
30  void setup ------------------------------------------------*/
31
32void setup()
33  {
34
35  //BAUDRATE set to 115200, remember it to set monitor serial properly.
36
37  //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
38
39  Serial.begin(115200);
40
41  servoA.attach(servoPinA);
42  servoB.attach(servoPinB);
43
44  servoC.attach(servoPinC);
45  servoD.attach(servoPinD);// damos um "start"
46  nos pulsos do servomotor, associando o pino de controle com a gerao de pulsos promovida
47  pela funo e mtodo - "servo.attach()"
48
49
50  openGripper();
51  //servoA.write(90);
52        // Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
53
54  //servoB.write(90);
55  //servoC.write(90);
56  //servoD.write(90);
57}
58
59/*--------------------------------
60  void loop  ------------------------------------------------*/
61
62void loop()
63  {
64
65  //The "Value" variable reads the value from the analog pin to which
66  the sensor is connected.
67  int value = analogRead(EMG_PIN);
68
69  //If the
70  sensor value is GREATER than the THRESHOLD, the servo motor will turn to 170 degrees.
71
72  if (Serial.available())
73  {
74    if (value > THRESHOLD) {
75      closeGripper();
76
77    } else {
78      openGripper();
79    }
80  }
81
82  //You can use serial
83  monitor to set THRESHOLD properly, comparing the values shown when you open and
84  close your hand.
85  Serial.println(value);
86}
87
88void openGripper() {
89
90
91  servoB.write(150);
92  servoC.write(0);
93  delay(500);
94  servoA.write(150);
95
96  servoD.write(0);
97
98}
99
100void closeGripper() {
101
102  servoB.write(0);
103
104  servoC.write(150);
105  delay(500);
106  servoA.write(0);
107  servoD.write(150);
108}
109