Mechanical gripper prosthesis with myoelectric sensor contol

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
24bool   openProt = true;
25
26/*-------------------------------- void setup ------------------------------------------------*/
27
28void   setup() {
29
30  //BAUDRATE set to 115200, remember it to set monitor serial properly.
31   //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
32   Serial.begin(115200);
33
34  servoA.attach(servoPinA);
35  servoB.attach(servoPinB);
36   servoC.attach(servoPinC);
37  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()"
38
39
40  servoA.write(90);        //   Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
41   servoB.write(90);
42  servoC.write(90);
43  servoD.write(90);
44}
45
46/*--------------------------------   void loop  ------------------------------------------------*/
47
48void loop()   {
49
50  //The "Value" variable reads the value from the analog pin to which   the sensor is connected.
51  int value = analogRead(EMG_PIN);
52  Serial.println(value);
53
54   if (value > THRESHOLD) { 
55    
56    Serial.println("abrir");
57      closeGripper();
58     } else {
59      openGripper();
60    }
61
62  //If the sensor value is   GREATER than the THRESHOLD, the servo motor will turn to 170 degrees.
63
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  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
24bool  openProt = true;
25
26/*-------------------------------- void setup ------------------------------------------------*/
27
28void  setup() {
29
30  //BAUDRATE set to 115200, remember it to set monitor serial properly.
31  //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
32  Serial.begin(115200);
33
34  servoA.attach(servoPinA);
35  servoB.attach(servoPinB);
36  servoC.attach(servoPinC);
37  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()"
38
39
40  servoA.write(90);        //  Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
41  servoB.write(90);
42  servoC.write(90);
43  servoD.write(90);
44}
45
46/*--------------------------------  void loop  ------------------------------------------------*/
47
48void loop()  {
49
50  //The "Value" variable reads the value from the analog pin to which  the sensor is connected.
51  int value = analogRead(EMG_PIN);
52  Serial.println(value);
53
54  if (value > THRESHOLD) { 
55    
56    Serial.println("abrir");
57      closeGripper();
58    } else {
59      openGripper();
60    }
61
62  //If the sensor value is  GREATER than the THRESHOLD, the servo motor will turn to 170 degrees.
63
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