Galileo Bionic Hand - ST Nucleo Example¶

Low Cost and 3D printed: Galileo Bionic Hand

This is a simple sEMG(surface Electromyography) Controller for the Galileo Bionic Hand Prosthesis, it's a Hybrid sEMG activated controller. The user has to select the desired posture by sending a special character and then perform it through sEMG activation by detecting contraction on flexor muscles of the forearm. Contractions on forearm extensor muscles releases the posture and allows the return to the default or rest posture.

Special characters:

• '1', for "Power Grip" selection
• '2', for "Point" selection
• '3', for "Pinch Grip" selection
• '4', for "Lateral Grip" selection
• '5' for "Tripod Grip" selection

You can customize the actions by modifying PWM values (microseconds) on finger position function (values depends on the way that the hand was built it).

Also, you can easily watch the data using a serial oscilloscope

• Serial_Osciloscope(TRUE,RAW) to watch raw signals, FALSE deactivate this feature
• Serial_Osciloscope(TRUE,RECTIFIED) to watch rectified signals, FALSE deactivate this feature
• Serial_Osciloscope(TRUE,SMOOTH) to watch smooth signals, FALSE deactivate this feature

Nokia 5110 display implementation for visual feedback will be add later, we have to modify libraries and fonts in order to improve the functionality. The main idea is to change of action by pressing a push button and change thresholds using a potentiometer.

Proper placement of disposable electrodes for two channels of surface EMG

• http://bio-medical.com/products/din-ekgemgeeg-snap-leads-24-inch.html
• http://bio-medical.com/products/covidien-kendall-disposable-surface-emg-ecg-ekg-electrodes-1-24mm-50pkg.html

Galileo EMG Shield - 3 Channels for surface EMG

Videos, bill of materials and tutorials to build the Galileo EMG Shield and the Galileo Bionic Hand will be posted soon, more information on:

• turing.galileo.edu/index.php/projects/galileo-hand
• http://bit.ly/arm_bionic_robo_hand
• http://bit.ly/galileo_hand_article