RoboticHandControlled

byMyoelectricSignals

By:
KyleStaskus
DanielOBryan

SeniorProject
ElectricalEngineeringDept.
CaliforniaPolytechnicStateUniversity
SanLuisObispo
2014


TableofContents
Abstract
1. Introduction
2. RequirementsandSpecifications
3. Design
4. IntegrationandTesting
5. IssuesandConclusion
6. References

Appendix
1. SeniorProjectAnalysis
2. MicrocontrollerCode
3. SpecsandRequirements
4. TimeAllotment

4
5
6
7
12
20
22

24
28
32
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ListofTablesandFigures:
Tables:
1. InputOutput

Figures:
1. BasicBlockDiagram
2. DetailedBlockDiagram
3. Musclesignallocationsforthumbandindex
4. Musclesignallocationsforindexmiddleandpinky
5. Musclesignalforextensordigitorumcommunis
6. Musclesignalforextensordigitorumcommunis
7. Locationsusedduringproject
8. AmplifierCircuit
9. SchmittTriggerCircuit
10. SchmittTriggerPerformance
11. BufferDrivingcircuit
12. VoltageRegulatorSchematic
13. Servousedtocontrolmovement
14. Servousedinhand
15. BaseMannequinhand
16. Servosattachedtohand
17. Completedhand

III7

III7
III8
III8
III9
III9
IV13
IV13
IV14
IV14
IV15
IV16
IV16
IV17
IV17
IV18
IV19
IV19

Abstract
Inthisprojectwedevelopedaprosthetichandthatiscontrolledbymyoelectricsignalsfrom
theforearm.Theforearmsignalswerefilteredandamplifiedtobeeasierreadbya
microcontroller.Themicrocontrollerthengeneratedsignalstocontrolthemechanicalhand
basedonthesemyoelectricinputsignals.Thisisdonebythemicrocontrollerincreasingthe
pulsewidthsenttoseveralservosmakingupthehand.Thelargerthepulsewidththemore
flexedthehandbecomesuntilitreachesthemaximumprogrammedintoit.Inordertoopen
thehandthehighinputtothemicrocontrollermustbedeactivatedandthenreactivatedfor
thepulsewidthtobegindecreasing.

Severaldesignsandproductsarecurrentlyavailableonlineascomplicatedlimbsand
handsforamputees,howevermanyofthesecanbecostlyandheavy.Thisprojecthas
takeninspirationfromthesedesignswiththegoalofreducingcostandweightwithout
sacrificingfunctionality.Onemajoradvantageofourprojectisthedryreusableelectrodes
usedtocapturethemyoelectricsignalsintheforearm.Thesilvercoatedclothfunctionsas
anelectrodewiththehelpofapushbuttonfromatarpmakingkit.Thiselectrodeisreusable
andremainsinthesameplaceinthesleeveitissewnintoforeaseofuse.

IIntroduction:

Thisprojectcapturesthemyoelectricsignalsintheforearm,andusesthemtocontrola
robotichand.Thiscaptureisdonethroughtheuseofasilvercoatednylonfabricsewninto
anathleticcompressionsleeve.Thiscombinationofmaterialsproducesareusableand
dryelectrodearraythatthesensorcanbeattachedto,andmaintainstheelectrodesonthe
samecontactpointthroughmanyuses.Thesignalsfromtheforearmareamplifiedtobe
easiertoseeandmanipulatethroughtheuseofafilter.Thesignalsarethenpassed
throughaSchmitttriggertoclearupthejumpysignalreceivedfromtheforearm.Theoutput
ofthisSchmitttriggerisadigitalhighordigitallowtobeinterpretedbyamicrocontroller.
The5Vhighisinterpretedbythemicrocontrollertobeingchangingthepulsewidth.To
haveaslowandeasymotionthehighsignalstartsincrementingavariableby1.The
variableisboundedbythemaximumandminimumvaluesofthemodulatedpulse.The
longerthepulseishighthemoretheservoclosesthehand.Thisoperationmaintainsthe
constantperiodwhileonlyincreasingthehightimeofthepulse.Inordertoopenthehand
thesignalmustgolow,thenreturnhigh.Thistriggersthevariabledecrementingby1untilit
hitsthemaximumlowpointortheinputsignalreturnstothelowstate.Asareplacementto
ahumanhanditmustworkwithoutinconveniencingtheuser.Thehandmustoperatefrom
anexternalbatteryforportability,andsotheusercanreplaceitifneeded.Bymodifyingthe
amplifierbeforetheSchmitttriggerthesystemcanbemadetoworkonexclusivelybattery
power,howeverthiswasnotimplementedinthefinaltestiteration.Finallythehandmust
mimicthemanymotionsofthehumanhand.Thishandcanaccomplishfineenough
motionstopickupobjectsandnotdestroythem.Thehandhasenoughstrengthtoholda
cupupsidedown,andnottoomuchstrengthtocrushthecup.

Theelectricalengineering concepts required to finishthisprojectarenumerousandcover

many areas of the subject. Analog systems are necessary for construction of the driver
circuitry for the servos and the filter circuitry for the input. Digital systems exist in the
programming of the microcontroller and integration of the sensor. Finally power analysis
determines the maximum battery life and linear voltage regulators for thesystems power
requirements.

IIRequirementsandSpecifications

This project requires that the robotic hand function similarly to the prosthetics currently
available to amputees. This hand hasthe ability to open, close,andgrabobjects.Allwhile
being similar toanormal human hand, without being toocomplicated to use.Thishand is
designed to operate with a smaller budget than its more advanced counterparts. As a
replacement to a human hand it functions for a large portion of the day, and has a
replaceable battery source for the required components. Finally it must not restrict the
mobility of the user either in size, proximity topower,oraesthetics. Appendix Ccontains
theengineeringspecificationsrelatedtotheserequirementsandneedsofourcustomer.

The customer for this project will most likely be missing a hand or have use for a
mechanical hand. With thisin mind the device shouldonly requirethe useofafewmuscle
signals, ideallyin the forearm orbicep. Theuser of this devicelikely wont have an expert
technical knowledge, therefore simple maintenance andoperation is required. Thedevice
isa prostheticused for a largeportionof theday.Thereforelongbatterylifeisamust.The
device itself should function as a replacement for the users missing hand withoutadding
additionaldifficultytotheirdailyroutine.

IIIDesign

Theinputs ofthis system are themyoelectric signals from the forearm, the outputsarethe
movements of the hand. The system currently uses multiple 9V batteries to power the
microcontrollerandtheservos. Thelocationsofthesignalsensorsdifferforeachcustomer
but stayin the same locationwithout the customer movingthemoncetheyare set.Aslong
asthe user places theirarm inthesame orientationand locationas whenthesystemwas
calibratedthesensorsandsystemshouldworkasintended.

Figure1:BasicBlockDiagram

Table1:Input/OutputTable
Input

MuscleSignalfrominsidearm

Output

Movementofrobotichandout

Function

Thesystemtakessignalscapturedinthe
armandoutputsthemasmovementfrom
therobotichandmimickingthemotion
madebytheuser

Thesensorpicks upthe signalsfromtheusersarm.Thissensorsendsthesignalsitpicks

up to a microcontroller and the microcontroller interprets the signals it receives. The
microcontrolleritselfdoes nothavethecurrentdrivingcapabilitiestomovetherobotic hand
alone.Thisrequiresadrivingcircuitinorderforthesignalsfromthemicrocontrollertodrive
the servos and moving parts in the robotic hand. Finally, the robotic hand mimics the
motions of a humanhandbasedontheinputsignal.Thisentirecircuitruns off9Vbatteries,
7

meaning several 9V are required to source enough current to drive all the parts for an
extendedperiodoftime.

Figure2:DetailedBlockDiagram

EMGSensorandLocation
Inordertogetthesignalsfromthewristthatcontrolmovement,weneededtofindthe
signallocationsinthearm.ThesecanbeseeninFigure3below.Inordertocontroleach
finger,theEMGmustbeabletopickupeachfingermovementwithouttoomuchnoise
fromotherfingersmoving.

Figure3.MuscleSignalLocationsForThumb(left)andIndexFinger(right).

For this project, only three fingers are desired to get an idea of the possiblemovement.
This means that we want the thumb, indexfinger, andpinky finger to control theindividual
fingers.ThiswouldinvolvethreesensorsplacedinthespotsoftheblackdotsinFigure4.

Figure4.MuscleSignallocationsforIndexandMiddleFinger(left)andPinkyfinger(right)

Figure5.MuscleSignallocationforMultipleFingersandWrist

Wet EMG sensorsare sticky andonly usable untiltheylose their sticky underside. This is
animpractical design for a product that will be worndaily. Ideally,areusableEMGsensor
9

is desired. We attached a metallic cloth to an armband, which holdstheclothto the skin

andworks as a sensor,reading electrical signalsfromthemusclesontheskin.Thisworks
as a dry electrode that is machine washable and more user friendly than the wet sensor
counterparts.

Amplifier
Thesignalcomingoutofthesensorwasattoolowofavoltagetobeofusetothe
microcontrollerinputfrominitialtesting.TheminimumvoltagelevelfortheArduino
microcontrollerinputwas3.3V,withthesensorvoltagereachingamaximumofabout1.5V
peakandholdingataround500mV.Anamplifierwithanamplificationof3amplifiesthe
signalsoitismoreusefulandeasiertodiscernthehighsfromthelowvoltages.

SchmittTrigger
TheamplifierwasnotenoughtogetacleansignaltotheArduino,soaSchmitttriggerwas
usedsotheArduinoeithergotahighsignalof5Voralowlevelof0V.TheSchmittwas
designedtotriggerahighataround4V.ThismeanttheArduinogotthehighsignalof5V
untiltheamplifieroutputreachedbelowabout1V,whichsettheschmitttriggerlowand
gavetheArduinoalowsignal.Thishelpstoclearupthesignalsothenoisefromthe
sensorwouldnotaffecttheArduino'sperformance.

Microcontroller
ThemicrocontrollerusedwasanArduinoUnoduetotheavailability,knownpower
required(19Vbatteryfor3hrs),andeaseofuse.ThemicrocontrollertakesintheSchmitt
triggeroutputtoaninputpin.Themicrocontrollerthenusedwhetherornotthesignalwasa
digitalhighoradigitallowtodecideonthewidthofthepulsewidthmodulationoutputon
anoutputpin.Thispulsewidthvariedfrom600usto1.2msoveraperiodof20ms.The
codeforthemicrocontrollercanbefoundinAppendixB.

DrivingCircuit
Themicrocontrollerisunabletopower9servosbyitselfsinceitcanonlyoutput40mAper
pin.Adrivingcircuitisrequiredforeachservo,meaningabufferbetweenthe
microcontrollerandtheservo.Sowesentthesignaltomultiplebuffersandeachthen
sendsthesignalandthecurrentrequiredtotheservo.Asimpleopampbufferisthe
currentdesignandaccomplishesthistask.

Servos
Theservosarewhatopenandclosethehand.Theyaresmallmechanicalmotorsthattake
aninputfromthemicrocontroller,powerfromthedrivingcircuit,andmovebasedonthat
input.Webuiltthefingersofthehandwiththeservosasadifferentmethodfromother
10

handswhichfunctionoffofstrings.Thismakesthehandstrongerandmoredurableandthe
designasawholeabitlessmessy.Howeveradesignobjectivewastonothavethe
motorsbetoostrongthattheycrushobjects,butstrongenoughtonotdropthemeither.

Hand
Todesignthehand,wetookamodelmannequinhandforabaseandbuiltthefingersfrom
thestructuredpalmofthehand.Tosaveincost,wehaveonlythreefingers,eachwiththree
joints,tocloseandgrabobjects.Thisbuildisnotasaestheticallypleasingaswas
anticipatedhoweverfunctionsasaprototype.

11

IVIntegrationandTesting

PartsList
6LMC662
6LM317
6Batteryclips
6batteries
9TowerProMG90S
1MannequinHand
1CMOSHexCoreInverterChip
1CompressionSleeve
1ftSilverCoatedNylonClothfromlessEMF.com
1SparkfunEMGSensor
1ArduinoUno
1DualPowersupply

Beforethesystemwasintegrated,eachcomponentwastestedindividuallytomakesureit
workedandtolimitthedifficultyoffindingaproblem.Onceeachcomponentwastested,it
wasintegratedintothewholesystemandtestedagainwiththeotherparts.Thiswasdone
witheachindividualparttofindproblemsearlyandquickly.

EMGSensorandLocation
Duringtesting,itwasconcludedthattheElectromyography(EMG)sensorchosenforthis
designwasnotsensitiveenoughtopickuponlytheindividualfingersformovement.This
leadtoadesignchangetoonlyuseonesensorsincewewereabletogetastrongand
distinctivesignalwhenonlymonitoringtheextensordigitorumcommunis.Thefigures
shownbelowinFigure6and7showthemuscleusedandthesensorsplacedonthe
forearm.Theredsensoristhehighsensor,meanttofindthehighpartofthevoltage
difference,withthebluebeingthelowvoltagesensor,andtheblacksensorontheelbowis
thereferencenode,orgroundnode.

12


Figure6.MuscleSignallocationforExtensorDigitorumCommunis

Figure7.LocationsUsedDuringProject

With this setup, we were able to get a stable andrepeatable useable signal thatwe had
control over. For the reusable sensors, we were able to use a compression sleeve with
silvercoatedclothusedunderneathtomakecontactwiththeskin.

13


Amplifier

Figure8.AmplifierCircuit

This amplifier circuit was designed to amplify the input signal by 3 times through the
resistordividerconnectedtothenegativeterminaloftheopamp.

SchmittTrigger

Figure9.SchmittTriggerCircuit

14


Figure10.SchmittTriggerPerformance

The Schmitt trigger was simulated and the performance is shown in Figure 10. When
connectedto the input of theamplifier,we found the Schmitttriggergaveusthehighvalue
and low value we wanted. When using the sensors astheinputto the amplifier, wewere
able togetahigh value when thewristmuscle wasflexed,andalowwhenthemusclewas
relaxed,withlittleerror.

As shown from the performance of the Schmitt trigger shown in Figure 10, the Schmitt
trigger triggered at around 3.3V from a low value of 0 V to ahigh value of5V.Once the
value output from the amplifier dropped below 0.7 V, theSchmitttrigger fellfromits high
value to the low value. This design was close to the originaldesign andwas onlyslightly
tweakedtofitourdesiredvaluesbetter.

15


DrivingCircuit

Figure11.BufferDrivingCircuitforServos

Since the Arduino was not capable of sourcing the current necessary to powerthe all the
servos, an op amp buffer was used to buffer the signal to each servo. The Arduino can
source 40 mA maximum while the servos use about 500 mA when making a large
transition.Atotalof9bufferswereusedtocleanlysendthesignaltoall9servos.

Figure12.VoltageRegulatorSchematic

Using 9V battery rails meant that a voltage regulator was required in order to drop the
voltageto the 5Vnecessaryto powertheservos. The Voltage Regulatorshownin Figure
12shows thecircuitrequiredtodrivetwoservos.Eachtwoservosrequireditsownbattery
to source the current necessary to transition properly,meaning 5 voltageregulatorswere
usedwith5batteriestopowertheservos.

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Servos
Aservolessthantwoincheslongwasneededtofunctionforthesizeofahand,theweight
hadtobelessthan20gtonotmakethehandheavy,yetstrongenoughtofunctionproperly.
ThechosenservowasaMG90Sgearservo,typicallyusedforhobbyvehicles.AVoltage
of4.8Vwasusedtopowertheservo.TheservoneededaPulseWidthModulatedwave
(PWM)withaperiodof20msandapulsewidthbetween400usto2400us.However,for
therangeofmotionused,ourservospulsewidthvariedbetween600usto1200us.These
servoshaveatorqueof30.6ozin,strongenoughtoholdcansandbottleswithoutcrushing
them.

Figure13.ServoUsedtoControlHand

Figure14.ServosUsedinHand

17

Testingconcludedthatforconveniencesaketheservoswerecapableofrunningona5V
railwitha5VpeakPWMwavewithoutissue.

Hand
The hand was the hardest part to construct. A base for the hand was found online as a
mannequin handshown belowin Figure15.Fromthisbase,weremovedallofthefingers,
replacing the wooden joints with eye screws to make the fingers more sturdy, and only
usedthe slotsfor theindexfingerandthepinkyfinger.Wethenfoundthebestplaceforthe
thumb and screwedthat toaroundthemiddle of thepalm.However, this proveddifficultto
attachtheservosto,sowehadtoredesign.

Figure15.BaseMannequinHand

Thesecondideawastousewoodenspacersbetweentheservosandthehandtobetter
securetheservostothehand.Thismeanttheservohadascrewthroughtheplasticparts,
throughawoodenspacerwhichwasscrewedtothehand,andthentothepartofthehand
wewantedittobesecuredto.However,thisaswellwasratherdifficultandprohibited
servomovement.Differentsizespacerswereattemptedhowevertheresultstayedthe
same.Athirddesignwasthenconsidered.

18


Figure16.ServosAttachedtoHand,TwoFingers

Insteadofusingthefingersthatcamewiththemannequinhand,theservosweregoingto
serveasthejointswiththefinaljointbeingafingertip.ThiscanbeseeninFigure16,and
thefinalhandinFigure17.Thisconfigurationgaveusthefullrangeofahandopeningand
closing,beingaboutthesamesizeasanadultmalehand,andtheamountofstrengthand
gripdesired.

Figure17.CompletedHandwithThreeFingers

19

VIssuesandConclusion

Issues
Many of the issues throughout this project originated from the EMG sensor. The sensor
was extremelyfickle,workingsometimes andnot others. Whenfirsttestingduringtheday,
the sensor would workandwe wouldprogress with ourproject, but afteranhourorso,the
sensor would quit working and would need to be moved forawhile until it worked again.
Thecauseofthiscouldnotbedetermined.

At present, the entire systemstillneedsapowersupplyduetothissensornot operatingon

a negative rail made from the batteries. When attempting to create a split supplysource
with positive and negativerails,while the designseemed towork, when connected to the
sensor circuit, the rails were not at their proper values. Multiple attempts were made
however a solutionwas not found.This errorcan be eliminatedbyadjustingthegaininthe
stageafterthesensorandoperatingitusingtwobatteriesat+/9V.

This project has a lot of roomfor improvementin many different areas.The current hand,
while working, could be made to be more aesthetically pleasing, have a wider range of
motion,andcouldbemadetobestrongerwithoutbeingtoostrong.

A different sort of sensor could be used. The reusable sleeve appeared to work well,
however the actual emgs and the chip were a problem. Designing a working emg and
reading circuit would vastlyimprovethe functionality ofthisproject,aswellasremovingthe
needforasplitpowersupply.

The project currently runs on a power source and 6 batteries. This makes the hand alot
bulkier andheavier.Reducing thepower drawoneachbatteryfromthe servoscouldsolve
this problem, or replacing theservoswith another type. Designing servos for this purpose
could be a good approach to reducing power draw, need for multiple batteries, and
increasethestrengthofthehand.

Using the servos as the actual finger joints seemed to give the hand more strength than
thosecontrolledbystrings.Thisshiftworkswellforthehandsholdingofobjects.

20


Conclusion
Thereis alotofroomforimprovementinthisproject,howeverasaprototypeitdoesitsjob
and is mostly portable withonly onefixneeded.Thiswas a combination ofmultiple areas
of engineering combining to create a finished project. The result of this project was to
produce a low budgetrobotichand.This project was completed forunderthe 400dollars
available through theelectricalengineeringdepartment.Thiscostislessthanonetenththe
priceoftheleadingmyoelectricprosthetic,andonetenththecostofthoseavailableonline.

21

VIReferences:

[1]ATMEL,8BitAVRMicrocontroller,ATmega328Pdatasheet,Oct.2009

Willinformonuseofmicrocontrollerwhenlearninghowtointerpretsignalsfromarm.
Thedatasheetassociatedwiththeuseofamicrocontrollermadebythepeoplethatmadethe
microcontroller.

[2]Tan,Desney,DanMorris,ScottSaponas,andRavinBalakrishnan.RecognizingGestures
fromForearmEMGSignals.MicrosoftCorporation,assignee.Patent20090327171.Dec.Jan.
2009.Print.

Patentbyknowncompany.Informationcontainedinthispatentmayleadtousefulinformationon
thedesignprocess.

[3]Adams,Amy.TheMuscularSystem.Westport,CT:Greenwood,2004.Print.

Bookusedtodiscussbiologyusefulinfindingthenervesandweightofahumanarm.
usedinbiologyclassesatcalpoly

[4]Kim,Jonghwa,andStephanMastnik."EMGbasedHandGestureRecognitionforRealtime
BiosignalInterfacing."IEEE(2010):n.pag.Print.

IEEEarticlepeerreviewedandusefulinunderstandingpickingupsignalsinthehumanarm.

[5]"HowProductsareMade."HowArtificialLimbisMade.N.p.,n.d.Web.21Oct.2013.

Discusshowartificiallimbsaremadeandhasusefulstepsinthemanufacturingprocess.Talks
aboutaknownprocessforthecreationofprosthetics

[6]Williams,Adam."MindcontrolledPermanentlyattachedProstheticArmCouldRevolutionize
Prosthetics."MindcontrolledPermanentlyattachedProstheticArmCouldRevolutionize
Prosthetics.Gizmag,29Nov.2012.Web.21Oct.2013.

Discussionontheusesofnervesignalsinthecontrolofcircuits.Peersreviewedjournalarticle

[7]AdvancerTechnologies,ThreeLeaddifferentialmuscle/electromyographysensorfor
microcontrollerapplications,Musclesensorv3datasheet,Feb,2013

Datasheetformusclesignalsensors.Datasheetfromcompany.

[8]Adee,Sarah."DeanKamen's"LukeArm"ProsthesisReadiesforClinicalTrials."IEEE
22

Spectrum.IEEESpectrum,1Feb.2008.Web.21Oct.2013.

IEEEarticlediscussingthecurrentexistingtechnologiesandtheiruses.PeerreviewedIEEE
article

[9]Fildes,Jonathan."BionicHandWinsTopTechPrize."BBCNews.BBC,06Sept.2008.Web.
21Oct.2013.

Newsstorydiscussingbionichandpickingupsignals.Reportedbycrediblenewsagency.

[10]"WorldPremiereofMuscleandNerveControlledArmProsthesis."ScienceDaily.
ScienceDaily,22Feb.2013.Web.21Oct.2013.

Articlediscussingnervesignaldetectionanduse.Peerreviewedarticleofknownwebsite.

[11]TowerProMG90MicroServoServoDatabase.ServoDatabase,Web.5,Feb.2014

DatasheetoftheServosused.Givesthebasicinformationandspecificationsoftheservo
neededinordertooperatetheservo.

[12]ArduinoUno,Arduino.Arduino.Web.11,April.2014

Thedatasheetandspecificationsofthemicrocontrollerusedfortheproject.Thisisthe
informationfromthemakersofthemicrocontroller.

[13]Leis,A.Arturo.Trapani,VicenteC.RadialNerveAtlasofElectromyography,NewYork,
OxfordUniversityPress,15,Feb.2000,pp4658.

Bookonthenervelocationsinthearmforpossibleuseofemglocations.Verydetailedpictures
andpublishedbyareputablesource.

23

AppendixAABETSeniorProjectAnalysis

ProjectTitle:RoboticHand
StudentsName:DanielOBryan
StudentsSignature:
KyleStaskus

AdvisorsName:TinaSmilksteinAdvisorsInitials:
Date:

Summaryoffunctionalrequirements:
The robotic hand operates from signals picked up in the arm. These signals travel to a
microcontrollerandcontrolthemovementofthe hand. This hand workssimilartoahuman
handandhasstrengthcapableofgrabbingandmovingobjects.

Primaryconstraints:
Numerous challenges to this project exist and each requires its own attention. First the
sensors must pick up a small deviation inelectricalsignalfromthearm and influence the
reactionofacircuit.Thedeviceitselfmustliftandgrab objects.Thisrequiresamoresturdy
handthanone produced bysimplertechnologies.Eachfingerofthehandmustwithstanda
certain weight.The handitselflimited to themaximumweightahumanarmcansupportfor
extended periods of time ideally no more than the weight of a human hand. Finally the
circuit cannot achieve temperatures far greater than those considered comfortable for a
humantowithstand.

Economic:
Humancapitalrequiredfor the project is limited tothehoursworkedbydeliverypersonnel
to deliver parts andhoursspentdesigning and testing handcircuitsby usandouradvisor.
Financially this project requires enough capital to pay for parts and the shippingcosts of
those parts. The project requires IC chips and circuits made by other companies
increasing cost.MinimalEarthlyresourcesconstructthisproject.Woodmadeupthelarger
parts. Silicon andcommon elements make up all IC chips and premade circuit. Costs will
mostlikely appear duringbuild and testcycles whenredesigning andtweakingoccur,and
additional parts necessary for the operation of the hand are ordered. This project will
requireinitialstartupcostspaidbytheCalifornia PolytechnicUniversityofSanLuisObispo
in no less than 400 Dollars. Below are initial estimates on how this 400 Dollars will be
dividedandused.

24

Manufacturingonacommercialbasis:
This device will have limited customers and as such will not sell many devices per year
after its initial burst of purchases.Additionally thewinding down ofUSforeignwars limits
the number ofsoldiers returning home withamputated hands. Thesefactorscontribute to
the device sellingnomore than 1000unitsperyearaftertheinitialburstof purchasesfrom
currentamputees with no working alternative.Each devicehasamanufacturing costofthe
components plus the cost for designing the projectand manhoursof manufacturing.500
dollars per device purchasepricecoversallcosts.This500dollarcostleadstoaprofitper
device of50 dollarsaftersubtractingparts costand labor costs.This leads toa profit per
year of 50000 dollars andeveryyear after the initialburst ofanestimated200000dollars.
Thedeviceideally uses9Vbatteries,rechargeablecanbeused,andhasalimitedupkeep
costfortheuser.Nowarrantywillbeofferedonthedevice.

Environmental:
Environmentallythisprojecthasverylowimpact. Aside from therare earthmetalsneeded
forthebatteryandthesilicon neededfor theICsthere are only commonsubstancesused
such as wood. This projectimpactsdomesticated animals as with this productamputees
gain the ability to play fetch with their dog and toss mice for their cat. Thisimprovesthe
mental health of these pet owners and causes them to exert more physical effort in their
day to day lives making them more healthy in general. This project does not negatively
impact the environment unlessputintolargescalemanufacturingwhereitutilizes toomany
naturalresources.

Manufacturing:
This productcannotbe easily testedasitrequiresmodelingon a specificusers armand
differsfor every user. This makesspottestingforerrorsverydifficult.Toaddressthisissue
a trained technician must attach the unit andamanual forhow tomodifythe device must
accompanyevery unit. Thedevice hasapossible test procedure involving asyntheticarm
composed of a fleshlikematerialimplanted withelectrodes.This testhowever cannot be
conducted until further funding and a proof of concept for the overall design has been
established.

25

Sustainability:
The device itself requires maintenance to continue functioning properly. The device will
haveabattery which willgraduallylosemaximum chargeandmustbereplaced.Themany
movingparts of this devicerequire maintenance similar toanymechanicalpart.Thebuyer
or a third partycompanypaystomaintain and repair the device.This project suffers from
ecological issues. Thedevicesused inthisprojectwill not be made from entirelyrecycled
materials, ormadein a manner withno waste.After initial developmentstheprofits ofthe
company will be used to produce advances in the technology of the hand. The hand will
ideallybecomemoresensitivetotheattemptedmotionssentthroughthe nervesinthearm.
Ideally the handitselfwillbecomecapableof finermotions,insteadofbeingabletopickup
a childs building block itcould pickup a pencil. Thisprojecthaslots ofroom toadvance
withalargerbudgetandlesstimeconstraint.

Ethical:
Ethical issues withthe project includethe Utilitariangoal of providing thebesthandforthe
cheapest cost totheusers. Thisrobotichandmustnotendangeritsuserandthosearound
him, therefore it should not be able to squeeze down too strong. This hand must not
completely replace ahumanhand andshouldnotbemarketedassuch.Thedesignforthis
will be availableto thepublicmakingitfullycapableofcritiquebyseveralpeers. Finallythis
handmust not do anythingabove orbeyond thatof a normal humanhandtopreventthose
seekingtoabuseitinsomeway.

HealthandSafety:
Themain goal ofthisproduct isto keepthe user safe and to keepthosetheyinteractwith
safe as well. Health wise this product must replace the functionality of a human hand
without harming the user in any way. Theremust notbeadverse sideeffects to usingthe
robotic handanysideeffectnegativelyimpactingthelifeoftheuserdefeatsthepurposeof
the product. The product itself will undergo extensive testing before being put on the
marketforcustomerusetopreventanyunforeseenhealthissues.

SocialandPolitical:
This project improves the lives ofallamputees capable ofpurchasingandmaintainingit.It
offers them greater function than any similar product on the market for a smaller cost.
Stakeholders in this project only gain the knowledge that they aided in the humanitarian
improvement of life for amputees. Those without access to this device due to monetary
reasonswillbeaidedwithcurrentmedicalaidtoolsinplace.

26

Development:
I have learned ofasimpler driving circuit due to EE409.Alsothroughcleverplacementof
the sensors on the armmoreaccuratesignaldetectionispossible.Imustalsoreviewwork
with microcontrollersandsensorsinordertoproducetheproperresponsewhena signalis
sensed. Finally Iwill needtoresearch intothe human arm, inordertoreplaceoneIshould
firstunderstandwhatitisIintendtoreplace.

27

AppendixBArduinoCode
/*
HandControlCode
CreatesaPulseWidthmodulationat50Hzwiththepulsewidthchangingbasedon
whetherornotthesensorisreadinghigh.
Duetotheneedtodelaybothmicrosecondsandmilliseconds,boththenormaldelayand
delaymicrosecondswasusedsincethereis
anerrorwhenonlyusingdelaymicroseconds.Sothecodedelaysforthenecessarywidth
inmicroseconds,thentherestofthe50Hz
cycleiscalculatedwithkandzanddelayed.
*/
intx=600//counterjoints
intz=0//delayvariable
intk=0//Microseconddelayvariable
inton=LOW//whetherthewristissendingasignalornot
intpart=0//whetherthehandshouldopenorclose(openwhenpart=0,closewhenpart=
1)

voidsetup()
{
pinMode(5,INPUT)//Settinginputpin
pinMode(13,OUTPUT)//SettingOutputpin
}

voidloop()
{
on=digitalRead(5)//Beginningoftheloopfindsifthesensorisreadinghighorlow

k=0//resettingk

//FirstPartwherethehandcloses.
if(part==0&&on==HIGH)
{part=1
while(x>=560&&x<=1200&&on==HIGH)//whilethesensorreadshigh,closethe
handatamediumspeed
{
if(x<1000){
digitalWrite(13,HIGH)
delayMicroseconds(x)//ChangesJoint1DutyCycletomoveservo
28

digitalWrite(13,LOW)
k=1000x
delayMicroseconds(k)
z=20000x
z=z/1000
delay(z)
}

elseif(x>=1000){
k=x1000
digitalWrite(13,HIGH)
delay(1)
delayMicroseconds(k)//ChangesJoint1DutyCycletomoveservo
digitalWrite(13,LOW)
z=1000k
delayMicroseconds(z)
z=19000k
z=z/1000
delay(z)
}
on=digitalRead(5)
x=x+1
}
}

//Secondpartwhenthehandopens
elseif(part==1&&on==HIGH)
{
part=0
while(x>=600&&x<=1300&&on==HIGH)//Whilethesensorisonagain,openthe
handatamediumspeed
{
if(x<1000){
digitalWrite(13,HIGH)
delayMicroseconds(x)//ChangesJoint1DutyCycletomoveservo
digitalWrite(13,LOW)
k=1000x
delayMicroseconds(k)
z=20000x
29

z=z/1000
delay(z)
}

if(x>1000){
k=x1000
digitalWrite(13,HIGH)
delay(1)
delayMicroseconds(k)//ChangesJoint1DutyCycletomoveservo
digitalWrite(13,LOW)
z=2000k
delayMicroseconds(z)
z=19000k
z=z/1000
delay(z)
}
}
on=digitalRead(5)
x=x1
}
}

else{//keepthehandatthecurrentlevel,notopeningorclosing
if(x<1000){
digitalWrite(13,HIGH)
delayMicroseconds(x)//ChangesJoint1DutyCycletomoveservo
digitalWrite(13,LOW)
k=1000x
delayMicroseconds(k)
z=20000x
z=z/1000
delay(z)
}

elseif(x>1000){
k=x1000
digitalWrite(13,HIGH)
delay(1)
delayMicroseconds(k)//ChangesJoint1DutyCycletomoveservo
30

digitalWrite(13,LOW)
z=1000k
delayMicroseconds(z)
z=19000k
z=z/1000
delay(z)
}

}
}

31

AppendixCSpecsAndRequirements

TABLEI
ROBOTICARMREQUIREMENTSANDSPECIFICATION
Marketing
Requirements

Engineering
Specifications

Justification

LessThan1520Lbs

Mustweighlessthanorequal
toarmitreplaces

Rigidattachmentslessthan1mmfrom
wheresignalsarepickedup

Mustfindsignalswithout
customerknowinghowit
works

Lessthan10%errorinsignaldetection

Mustnothaveerrorsin
distinguishingsignalinarm
fromambientnoise

Operateswithoutbeingwiredtoa
nonmovingpowersource

Mustbeabletomovewith
personforpracticality

Mustnotgethotterthan85DegreesF

Mustnotgettoohotforuserto
continuewearing

Mustbeabletoholdonto10lbswithout
error

Hastobeabletoreplacea
humanhandinholdingof
objects

Devicedigitsmustfollowhumandigitsto
within1cm

Hastoworkasareplacement
forahandandhavefullrange
ofmotionsimilartoactual
hand

Devicemustrespondwithin25msofusers Cannotlagtoseverelybehind
armsignalgeneration
usersinput

Mustnotbecapableofexertingmorethan Mustnotcrushordamage
20lbsofforce
delicateobjectsaccidentally

10

Abletowithstandminimalwaterand
temperaturechanges

Mustfunctioninavarietyof
differentweathers

32

MarketingRequirements
1. LightEnoughtocarrywithonearm
2. Easytoattachanduse
3. Picksupsignalsfromyourarmmuscle
4. Portableandnonrestrictive
5. Comfortabletowear
6. Strongenoughtoholdlightobjects
7. Workssimilartoahumanhand
8. Userhadfastreactiontimenotsloweddownbydevice
9. Cannotbeadangertouserorthosearounduser
10. Mustworkinavarietyoftemperaturesfordependability

33

AppendixDGanttChart

34