Myoelectric sensor-controlled hand prosthesis

Print a prosthesis on your 3D printer and use a myoelectric sensor to control it.

Jun 19, 2022

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protesis

myoeletric

hand

Devices & Components

Grove Shield for Arduino Nano

Arduino Nano

9V battery (generic)

Jumper wires (generic)

9V Battery Clip

MyoWare Muscle Sensor Development Kit

SG90 Micro-servo motor

Hardware & Tools

nylon thread roll

Hot glue gun (generic)

Solder Wire, Lead Free

Soldering iron (generic)

3D Printer (generic)

Project description

Code

Control the protestic hand with myoelectric sensor.

c_cpp

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

#include <Servo.h>

//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 200

//Pin number where the sensor   is connected. (Analog 0)
#define EMG_PIN 0

//Define Servo motor

const   int servoPinA = 4;
Servo servoA;

const int servoPinB = 5;
Servo servoB;

const   int servoPinC = 6;
Servo servoC;

const int servoPinD = 7;
Servo servoD;

/*--------------------------------   void setup ------------------------------------------------*/

void setup()   {

  //BAUDRATE set to 115200, remember it to set monitor serial properly.
   //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
   Serial.begin(115200);

  servoA.attach(servoPinA);
  servoB.attach(servoPinB);
   servoC.attach(servoPinC);
  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()"


  openGripper();
  //servoA.write(90);         // Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
   //servoB.write(90);
  //servoC.write(90);
  //servoD.write(90);
}

/*--------------------------------   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 (Serial.available())
  {
    if (value > THRESHOLD) {
      closeGripper();
     } else {
      openGripper();
    }
  }

  //You can use serial   monitor to set THRESHOLD properly, comparing the values shown when you open and   close your hand.
  Serial.println(value);
}

void openGripper() {

   servoB.write(150);
  servoC.write(0);
  delay(500);
  servoA.write(150);
   servoD.write(0);

}

void closeGripper() {

  servoB.write(0);
   servoC.write(150);
  delay(500);
  servoA.write(0);
  servoD.write(150);
}

Control the protestic hand with myoelectric sensor.

c_cpp

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

#include <Servo.h>

//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 200

//Pin number where the sensor  is connected. (Analog 0)
#define EMG_PIN 0

//Define Servo motor

const  int servoPinA = 4;
Servo servoA;

const int servoPinB = 5;
Servo servoB;

const  int servoPinC = 6;
Servo servoC;

const int servoPinD = 7;
Servo servoD;

/*--------------------------------  void setup ------------------------------------------------*/

void setup()  {

  //BAUDRATE set to 115200, remember it to set monitor serial properly.
  //Used this Baud Rate and "NL&CR" option to visualize the values correctly.
  Serial.begin(115200);

  servoA.attach(servoPinA);
  servoB.attach(servoPinB);
  servoC.attach(servoPinC);
  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()"


  openGripper();
  //servoA.write(90);        // Definimos o ngulo inicial do servo em 90 graus (posio central do servomotor)
  //servoB.write(90);
  //servoC.write(90);
  //servoD.write(90);
}

/*--------------------------------  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 (Serial.available())
  {
    if (value > THRESHOLD) {
      closeGripper();
    } else {
      openGripper();
    }
  }

  //You can use serial  monitor to set THRESHOLD properly, comparing the values shown when you open and  close your hand.
  Serial.println(value);
}

void openGripper() {

  servoB.write(150);
  servoC.write(0);
  delay(500);
  servoA.write(150);
  servoD.write(0);

}

void closeGripper() {

  servoB.write(0);
  servoC.write(150);
  delay(500);
  servoA.write(0);
  servoD.write(150);
}

Downloadable files

Myoeletric sensor schema.

Battery connection pic2

Battery connection pic1

Myoelectric sensor connection

Myoeletric sensor schema.

Battery connection pic2

Order of muscle connectors

Place one electrode in the middle of the muscle body, connect this electrode to the RED snap connector. Place a second electrode at one end of the muscle body, connect this electrode to the GREEN snap connector. Place a third electrode on a bony or non-muscular part of your body near the targeted muscle, connect this electrode to the YELLOW snap connector.

Order of muscle connectors

Battery connection pic1

Documentation

Hand prosthesis CAD.

Modeling of the hand parts in Solid Works.

Hand prosthesis CAD.

Modeling of the hand parts in Solid Works.

Hand prosthesis CAD.

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luiz_coppini

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