Milestone 3.1 - Implementation
The physical design of the finger utilizes a loop of braided wire on either side to retract or extend the finger. The loose end of the loop is attached to a flywheel, which will be actuated by a servo motor in order to control the motion of the finger. Our current prototype for this single-finger system is working as we expected. The next step is to finish 3d printing the palm and additional fingers in order to have a full hand prototype. Once we assemble the hand we can test the big mechanical movements we intend such as gripping an object. After that we can finish the assembly of the wrist, which will be the last major hardware implementation.
The initial software implementation for the prosthetic hand focuses on building a structured skeleton code that establishes motor control and fundamental functions. Using the Arduino Servo library, the team defined three servo motors to control the thumb, pointer finger, and claw, along with a digital output for the wrist locking mechanism. The setup() function initializes motor connections and ensures a default open position, while the loop() function listens for serial input commands to trigger specific movements. The core functionalities—grabbing, pointing, and locking/unlocking the wrist—are modularized into dedicated functions, each adjusting servo positions accordingly. A reset function ensures the hand returns to its default state when needed. This framework provides a scalable foundation for integrating additional features, such as sensor-based control or dynamic grip adjustments, once hardware testing becomes feasible.
Milestone 3.2 - Test
Our testing shows our first proper steps into realizing our prosthetic hand. Within the video we show the extension and retraction of the finger as a proof of concept for the mechanical design. Our next steps going forward are to finish printing the wrist and the palm, and to implement 3 additional fingers including a thumb. Within this stage we will also be finalizing our electrical component circuitry through the implementation of an Adafruit motor shield to control each motor individually ensuring a fully functional circuit. After the motor shield and motors are finished we will move on to implementing the myoelectric sensor to convert electrical signals within the forearm to prompt the hand to either close (grip) or open.
Milestone 3.3 - Teamwork
Myoelectric Component Integration
Assistance With 3D Modeling
Assistance Electrical Component Soldering
CAD Parts & Assembly Designer
Manufacturer of Physical Components
Working Assembly
Circuit Design
Soldiering Electrical Components
Integration of Electrical Components
Assistance with 3D Modeling
Software Implementation
Electronic and Hardware Integration
Software Design
Software Testing
Arduino Compatibility Testing