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Raspberry Pi and MCP3008 Controlled Robotic Hand with Muscle Sensor Integration

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Circuit Documentation

Summary

This circuit is designed to read muscle signals using a Myoware 2.0 Muscle Sensor and convert them to electrical signals using an MCP3008 8-channel 10-bit ADC. The converted signals are then sent to a Raspberry Pi 3B for further processing. Additionally, the circuit controls multiple servo motors to simulate hand and finger movements based on predefined angles.

Component List

  1. MCP3008 8-channel 10-bit ADC

    • Description: Analog-to-digital converter
    • Pins: Not specified

  2. Servo

    • Description: Actuator for simulating movements
    • Pins: GND, VCC, PWM

  3. Comment

    • Description: Placeholder for comments
    • Pins: None

  4. 5V Battery

    • Description: Power supply
    • Pins: Positive, Negative

  5. Raspberry Pi 3B

    • Description: Microcontroller for processing signals
    • Pins: 3v3, GPIO2, GPIO3, GPIO4, GND, GPIO17, GPIO27, GPIO22, 3V3, GPIO10, GPIO9, GPIO11, ID_SD, GPIO5, GPIO6, GPIO13, GPIO19, GPIO26, GPIO21, GPIO20, GPIO16, GPIO12, ID_SC, GPIO7, GPIO8, GPIO25, GPIO24, GPIO23, GPIO18, GPIO15, GPIO14, 5V

  6. Myoware 2.0 Muscle Sensor

    • Description: Sensor for detecting muscle signals
    • Pins: VIN, GND, ENV

Wiring Details

MCP3008 8-channel 10-bit ADC

Servo

5V Battery

Raspberry Pi 3B

Myoware 2.0 Muscle Sensor

Documented Code

MCP3008 8-channel 10-bit ADC Code

/*
 * Muscle Signal to Electrical Signal Converter
 * This Arduino sketch reads muscle signals from a GSR sensor via an MCP3008 ADC
 * and sends the converted electrical signal to the Raspberry Pi 5 for further
 * processing.
 */

#include <SPI.h>

// Pin definitions
const int GSR_SENSOR_PIN = 0; // MCP3008 channel 0
const int CS_PIN = 10; // Chip Select pin for SPI

void setup() {
  // Initialize SPI
  SPI.begin();
  pinMode(CS_PIN, OUTPUT);
  digitalWrite(CS_PIN, HIGH);
  // Initialize serial communication
  Serial.begin(9600);
}

int readADC(int channel) {
  // Start SPI transaction
  SPI.beginTransaction(SPISettings(14000000, MSBFIRST, SPI_MODE0));
  digitalWrite(CS_PIN, LOW);
  // Send start bit, single-ended bit, and channel number
  byte command = 0b11000000 | ((channel & 0b111) << 3);
  SPI.transfer(command);
  // Read high and low bytes
  byte highByte = SPI.transfer(0x00);
  byte lowByte = SPI.transfer(0x00);
  digitalWrite(CS_PIN, HIGH);
  SPI.endTransaction();
  // Combine bytes into a 10-bit value
  int value = ((highByte & 0x03) << 8) | lowByte;
  return value;
}

void loop() {
  // Read muscle signal from GSR sensor
  int muscleSignal = readADC(GSR_SENSOR_PIN);
  // Send the signal to Raspberry Pi via serial
  Serial.println(muscleSignal);
  // Small delay to prevent overwhelming the serial buffer
  delay(50);
}

Servo Code (Hand Movement Control)

/*
 * Hand Movement Control
 * This Arduino sketch controls a servo motor to simulate hand movements.
 * The servo motor is connected to the microcontroller and receives PWM
 * signals to adjust its position.
 */

#include <Servo.h>

// Pin definitions
const int SERVO_PIN = 9; // PWM pin for the servo motor

// Servo object
Servo handServo;

void setup() {
  // Attach the servo to the specified pin
  handServo.attach(SERVO_PIN);
}

void loop() {
  // Move the servo to 0 degrees
  handServo.write(0);
  delay(1000); // Wait for 1 second
  // Move the servo to 90 degrees
  handServo.write(90);
  delay(1000); // Wait for 1 second
  // Move the servo to 180 degrees
  handServo.write(180);
  delay(1000); // Wait for 1 second
}

Servo Code (Finger Movement Control)

/*
 * Finger Movement Control
 * This Arduino sketch controls a servo motor to simulate finger movements.
 * The servo motor is connected to the microcontroller and receives PWM
 * signals to adjust its position based on predefined angles.
 */

#include <Servo.h>

// Pin definitions
const int SERVO_PIN = 9; // PWM pin for the servo motor

// Servo object
Servo fingerServo;

void setup() {
  // Attach the servo to the specified pin
  fingerServo.attach(SERVO_PIN);
}

void loop() {
  // Move the servo to 0 degrees
  fingerServo.write(0);
  delay(1000); // Wait for 1 second
  // Move the servo to 45 degrees
  fingerServo.write(45);
  delay(1000); // Wait for 1 second
  // Move the servo to 90 degrees
  fingerServo.write(90);
  delay(1000); // Wait for 1 second
  // Move the servo to 135 degrees
  fingerServo.write(135);
  delay(1000); // Wait for 1 second
  // Move the servo to 180 degrees
  fingerServo.write(180);
  delay(1000); // Wait for 1 second
}

This documentation provides a comprehensive overview of the circuit, including a summary, component list, wiring details, and documented code for each microcontroller.