Bionic Arm

Progress 

Currently, the parts, system, and code have been implemented but the final stage - ligaments (pulley system) is in progress.

 The code and system are now able to move fingers individually at a reproducibility rate of 80% and flex the wrist at a reproducibility rate of 100%.

• The system first is made up of mechanical parts that were designed on SolidWorks and 3D printed on an Anycubic Mega X. The 3D printed parts consist of an upper and lower arm, a hand, 3 sections for each finger and thumb, servo horns, and pins for the fingers to rotate on. All were created designed and created myself, then assembled using electric tools and adhesives.

• The hardware components consist of an Arduino Uno Microcontroller, 4 MG966R servo motors, 1 micro servo, 3 9V batteries for power and for the sensor, switches, an EMG sensor, and wires. Soldering and crimping were used to connect the circuit/parts.

• The fingers have small holes inside which allow the fishing wire to pass through; this acts as the ligaments. The fishing wire is connected to the servos accordingly and when the servo turns CCW, the fingers curl in. When it turns CW it opens them up. This is controlled by the EMG sensor's readings.

• The hand is connected to the arm through a micro servo motor which allows the wrist to move in either direction. This is controlled by 2 buttons.

• The robot uses C++/C code generated on the Arduino IDE and uploaded to the microcontroller.