Hand Motion System
A robotic hand that mimics user hand gestures via glove-mounted flex sensors.
Author: Bianca-Ioana Mihai (332CC)
GitHub Project Link: https://github.com/UPB-PMRust-Students/proiect-biancamih
Description
The project involves building a 3D-printed robotic hand controlled by flex sensors mounted on a glove. The robotic hand will replicate the movements of the user's hand in real-time, based on input from the sensors. These sensors send signals to a Raspberry Pi Pico 2 microcontroller, which interprets the data and drives individual servomotors for each finger of the robotic hand.
Motivation
Hand gesture control offers an intuitive and accessible interface for robotic systems. This project aims to explore gesture-based interaction as a method for remote manipulation or accessibility tools for people with disabilities.
Architecture
The main architecture components and their interactions:
- Input Layer: Flex sensors on each finger measure bending angles.
- Processing Layer: Raspberry Pi Pico interprets sensor data using ADC and maps it to servo positions.
- Actuation Layer: Servos in the robotic hand mimic the finger positions.
Log
Week 5 - 11 May
- Initial hardware procurement
- Defined the project's scope and main functionalities.
- Selected the core hardware components.
Week 12 - 18 May
Week 19 - 25 May
Hardware
- Raspberry Pi Pico 2 – The core microcontroller for signal processing.
- Flex Sensors – Detect finger bending on the glove.
- Servomotors – Control finger movement on the robotic hand.
- 3D-Printed Robotic Hand – Physical output mechanism.
- Resistors, breadboard, jumper wires, USB cable – Circuit prototyping.
Schematics
Place your KiCAD schematics here.
Bill of Materials
| Device | Usage | Price |
|---|---|---|
| 2 × Raspberry Pi Pico 2 W | Microcontrollers with Wi-Fi and Bluetooth for sensor processing and motor control | 40 RON each |
| 5 × SG90 Micro Servo Motor | Actuators for robotic hand fingers | 12 RON each |
| 3D Printed Hand | Physical structure of the robotic hand | TBD |
| 5 x Force Sensitive Resistor | Detects pressure or force from the user's finger | ~70 RON each |
| Jumper Wires | This is used for wiring connections between modules and breadboard circuits | 23 RON |
| Breadboard | Rapid prototyping without soldering | 15 RON |
| Resistors | Used in voltage dividers and signal conditioning | 12 RON |
Software
| Library | Description | Usage |
|---|---|---|
| embassy-rp | Async runtime for Raspberry Pi Pico | Used to control GPIO, ADC, and timers |
| embassy-servo | Servo motor control | Sends PWM signals to SG90 servos |
| embedded-hal | Common hardware interface | Standard traits for pins, ADC, PWM |
| defmt | Debug logging tool | Shows debug messages through RTT |