Prosthetic Hand Using Arduino and PCA9685 Servo Motor Driver.

Have you ever imagined creating a robotic hand? Cool, right?
Before you start building this amazing project, check out this viral video reel showcasing a functional prosthetic hand that inspired this project.

This guide will walk you through creating a prosthetic hand using Arduino, PCA9685 Servo Motor Driver, nylon threads, elastic threads, and 3D-printed parts. It's an exciting project combining mechanical design, electronics, and programming!

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Components Required

To create this project, you will need the following components:

Mechanical Components:

1. 3D-printed parts (fingers, palm, and frame)
2. Black 1 mm elastic thread (for finger support)
3. Nylon threads (for finger movements)


Electronics:

1. Arduino Uno (microcontroller)
2. PCA9685 Servo Motor Driver
3. Servo motors (MG90S or equivalent)
4. Jumper wires (Male-to-Male and Male-to-Female)
5. Breadboard (optional)
6. Power supply (5V for the servo motor driver)

Software:

1. Arduino IDE
2. Libraries:
   • Wire.h for serial communication
   • PWMServoMotorDriver.h for PCA9685 Servo Motor Driver

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Steps to Create the Prosthetic Hand

Step 1: Print the 3D Parts

Print the 3D parts using .stl files. Refer to this video tutorial for detailed guidance on printing the 3D parts.

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Step 2: Attach Servo Motors

Attach the servo motors to the prosthetic hand structure as shown in the image.

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Step 3: Assemble Nylon Threads and Elastic Thread

• Use nylon threads to attach the 3D-printed fingers.
• Tie black 1 mm elastic threads along the fingers for additional support.

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Step 4: Tie Nylon Threads to Servo Motors

• Secure the nylon threads to the respective servo motors to control finger movement.

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Electronics Part

Step 5: Connect the Servo Motors

• Connect the servo motors to the PCA9685 as follows:
  • Black wire: Ground (GND)
  • Red wire: +5V (power)
  • Signal wire (Orange): Connect to the Yellow pin of the servo motor driver

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Step 6: Connect the SCL Pin

• Connect the SCL pin of the PCA9685 to A5 on the Arduino Uno.

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Step 7: Connect the SDA Pin

• Connect the SDA pin of the PCA9685 to A4 on the Arduino Uno.

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Step 8: Power Connections

• Connect the VCC and GND pins of the PCA9685 to:
  • 5V of the Arduino Uno
  • GND of the Arduino Uno

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Kindly refer to the following photo for connections.

Programming the Prosthetic Hand

1. Upload the Code:

   • Before proceeding with the connections, upload the provided code to the Arduino Uno.
   • Make sure to download the necessary libraries:
     • Wire.h
     • PWMServoMotorDriver.h
   • Set the baud rate to 9600 MHz in the Arduino IDE.
   • Keep your PC connected to the Arduino Uno.

2. Commands for Movements:
   Open the Serial Monitor in the Arduino IDE and enter the following commands to control the hand:

3. Keep the angle of servo motor between 0 ~ 150 in PCA9685 Servo Driver to 180 ~ 600 degrees.

• The Max angle is 600 & MIN angle is 150 in PCA9685 Motor Driver.

Command	Action
1	Open the hand
2	Close the hand
3	Count 1
4	Count 2
5	Count 3
6	Count 4
7	Count 5
8	Victory gesture
9	Yo gesture

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Disclaimer

Ensure proper connections and follow instructions carefully. This project should be attempted under professional supervision. Do at your own risk.

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Author

• Ketan Thorat
  • Follow on Instagram: @ketanthorat.ai
  • For any queries, kindly mail at ketanthorat.ai@gmail.com

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License

All entities and content are trademarks of Robonex Innovations. For more projects, visit our website or social media.

Happy Learning!
Signing off,
Ketan Thorat