Background Who does this project addresses to Handicapped
Background Ø Who does this project addresses to? Ø Handicapped. Ø Amputated limbs. Ø Paralyzed. Ø Motivation Statistics
Project’s Goals The objective of this project is to drive a robotic arm and vehicle wirelessly by moving certain muscles in the body. An important attribute of this system is a correct sample of electrical signals from muscles (EMG) and the translation of these signals into an action.
Block Diagram
Demonstration Link
Design Stages Create interface between radio transmitter and microcontroller. Ø Control the robotic arm & vehicle by microcontroller. Ø Design and build Amplifying and Filtering circuit. Ø Sample the EMG signal and translate it to movement commands. Ø
The EMG Signal Ø An EMG signal is a small electrical current that is released when a muscle is contracted. Ø The EMG signal can be read or measured by placing conductive elements or electrodes on skin surface. Ø The voltage level of the signal is 0. 01 -10 m. V at freq range of 0 -500 Hz
Filter & Amplifier Circuit Ø Uses Instrumentation Amplifier and Universal Active Filter. Ø Amplifies the low measured signal to make it suitable for a sample. Ø Filters Background noise.
Micro Controller - Pic 18 Ø Ø 5 v A/D-Sample a analog signal that already been filtered and amplified. Ø The resolution- 10 bit, 4. 88 m. V/bit. Create interface to radio transmitter Ø PWM signal. Long Sync Pulse Ch 1 Ch 2 Ch 3 Ch 4 Ch 5 0 v Sync Pulse Sync Pulse
Micro Controller - Pic 18 EMG Signal
Communication System Ø Laser 4 Remote control Ø Receives the signal from microcontroller. Ø Modulates and transmit 72 MHz FM modulated signal. Ø The Hitec HFD-08 RO receiver Located on the mobile vehicle Ø Demodulates the FM Signal Ø Parsers the received data to 8 channel Ø
Robotic Arm &Vehicle The robotic arm is based on Hi-Tech servo motors. Ø The angel of the motor is determined by the width of the PWM it gets. Ø The robotic arm controlled by 5 PWM channels (have 5 motors). Ø 4 X 4 weal drive vehicle controlled by 2 PWM channels. Ø
Digital Camera & Monitor Ø The camera is tracking the movement of the robot and sending a PAL video signal at 2. 4 GHz. Ø The monitor has an internal video receiver with LCD screen and Video and Audio outputs.
Future research Working a circuit board (will reduce noise ). Ø Reducing size of communication system. Ø Working in frequency domain with DSP processor. Ø Reduce energy consumption. Ø Integrate EEG-electric signals from the brain. Ø
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