Robotic Hand - Blog #2
With a big part of this project being the 3D printed hand and making the sensor, this is what I have been working on.
The INA828 IC has arrived (I got 2 of them just in case). I ordered them from Newark at a cost of $10 each. The INA828 is an Instrumentation Amplifier that amplifies the difference between two input signal voltages while rejecting any signals that are common to both inputs. The amplifier provides the function of extracting small signals from transducers and other signal sources. The signals that I will be reading are called Electromyography Signals (EMG). The INA828 will amplify this signal and the Arduino will read and with the program I will be writing, know which muscle is being used. This will the activate the correct servo for the appropriate finger to move.
Below is a photo of the INA828 pin out schematic:
Here is a photo of the INA828 attached to the PCB (Soldering this drove me crazy):
Now for the 3D printed hand. This has taken me around 15 hours to design. Figuring out how to make it work properly took 3 prototypes before I came up with this.
Here is the thumb printed out, just 4 more fingers and the hand to print.
Below is the CAD drawing of the hand. When it's printed out there will be a detailed explanation of how it all works.
That is all for this update on my project. If anyone wants the .stl files for the 3D printer just let me know, they are available to anyone who wants them!!
Dale Winhold
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