A program to control the fingers of a mechanical hand from an iPhone. Allows for manual control of each finger individually as well as execution of predefined gestures.
👌("okay" button)
The code runs on an ESP32 microcontroller, which is bluetooth enabled. Using the Blynk framework, the outputs of the board can be controlled using an app.
A single .ino file is responsible for running the program, establishing the bluetooth connections, and relaying information from the UI to the hardware.
The Gesture class is simply a wrapper for the intended positions of each of the five servos for a given gesture.
The Hand class is a wrapper for the servo objects. It contains performGesture() which takes a Gesture object and moves the fingers accordingly.
The five servos are connected to PWM pins of the microcontroller. Because of the number of motors and resistance from the fingers/rubber bands, the servos had to be powered by an external supply, rather than from the board itself.
By @sophia-hubscher.
Each finger consists of three hinged segments (see above) with a taut rubber band running along the backside and a fishing line on the palm side.
When the servos pull the fishing line, the fingers contract; when the servos return, the fingers are pulled back by the rubber bands.
