Background   Who does this project addresses to?   Handicapped.   Amputated limbs.   Paralyzed.   Motivation Statistics.

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Presentation transcript:

Background   Who does this project addresses to?   Handicapped.   Amputated limbs.   Paralyzed.   Motivation Statistics

Project ’ s Goals The objective of this project is to drive a robotic arm and vehicle wirelesslyby 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 Link

Design Stages  Create interface between radio transmitter and microcontroller.  Control the robotic arm & vehicle by microcontroller.  Design and build Amplifying and Filtering circuit.  Sample the EMG signal and translate it to movement commands.

The EMG Signal  An EMG signal is a small electrical current that is released when a muscle is contracted.  The EMG signal can be read or measured by placing conductive elements or electrodes on skin surface.   The voltage level of the signal is mV at freq range of 0-500Hz

Filter & Amplifier Circuit Filter & Amplifier Circuit  Uses Instrumentation Amplifier and and Universal Active Filter.  Amplifies the low measured signal to make it suitable for a sample. signal to make it suitable for a sample.  Filters Background noise.

Micro Controller - Pic18 Micro Controller - Pic18  A/D-Sample a analog signal that already been filtered and amplified.  The resolution- 10 bit, 4.88mV/bit.  Create interface to radio transmitter  PWM signal. Ch 1Ch 2Ch 3Ch 4Ch 5 5v 0v Long Sync Pulse Sync Pulse

Micro Controller - Pic18 Micro Controller - Pic18 EMG Signal

Communication System Communication System  Laser 4 Remote control  Receives the signal from microcontroller. microcontroller.  Modulates and transmit 72MHz FM modulated signal.  The Hitec HFD-08RO receiver  Located on the mobile vehicle  Demodulates the FM Signal  Parsers the received data to 8 channel

Robotic Arm &Vehicle Robotic Arm &Vehicle   The robotic arm is based on Hi-Tech servo motors.  The angel of the motor is determined by the width of the PWM it gets. determined by the width of the PWM it gets.   The robotic arm controlled by 5 PWM channels (have 5 motors).   4X4 weal drive vehicle controlled by 2 PWM channels.

Digital Camera & Monitor Digital Camera & Monitor   The camera is tracking the movement of the robot and sending a PAL video signal at 2.4GHz.   The monitor has an internal video receiver with LCD screen and Video and Audio outputs.

Future research  Working a circuit board (will reduce noise ).  Reducing size of communication system.  Working in frequency domain with DSP processor.  Reduce energy consumption.  Integrate EEG-electric signals from the brain.