From 31e46927aebb0f4b9bc3959065206436afa9fe34 Mon Sep 17 00:00:00 2001 From: Mihai Temiac Date: Sat, 25 Apr 2026 01:05:37 +0300 Subject: [PATCH 1/3] added documentation --- .../project/2026/mihai.temiac/diagram.svg | 4 + .../project/2026/mihai.temiac/index.md | 104 ++++++++++++++++++ 2 files changed, 108 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihai.temiac/diagram.svg create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihai.temiac/index.md diff --git a/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/diagram.svg b/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/diagram.svg new file mode 100644 index 00000000000..f119984dbba --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/diagram.svg @@ -0,0 +1,4 @@ + + + +
Forearm muscles
Forearm muscles
EMG Sensors
EMG Sensors
STM32
(ADC + Processing + Control)
STM32...
Analog
Analog
Actuation System
(Servos)
Actuation System...
Mechanical system 
Fingers + Tendons
Mechanical system...
PWM
PWM
Text is not SVG - cannot display
\ No newline at end of file diff --git a/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/index.md b/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/index.md new file mode 100644 index 00000000000..ce56816776f --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/index.md @@ -0,0 +1,104 @@ +# Prosthetic arm with digit control +3D-printed prosthetic hand with EMG-based digit control and tendon-driven mechanical actuation + +:::info + +**Author**: Temiac Mihai-Gabriel \ +**GitHub Project Link**: https://github.com/UPB-PMRust-Students/fils-project-2026-mihailinux + +::: + + + +## Description + +The project focuses on building a prosthetic hand with electromyography, the most used technique for driving prosthetics. Muscle signals are preferred due to their higher amplitude and ease of non-invasive surface acquisition. + +By sampling multiple areas with electrodes, via specialized EMG sensors or repurposed EKG sensors, a potential difference is linked to muscle activity. Using multiple sensors enables the mapping of groups of digits/individual digits, allowing the prosthetic to become usable in multiple scenarios. + +The prosthetic will be 3D printed, with channels for the hand pulleys, plus string materials for the flexor tendons and elastic materials for the extendor tendons, achieving natural momevent, aiming for a mechanical system as close to reality. + +## Motivation + +I've always been passionate about the inner workings of life, with physiology being at the top of the list. Building a prosthetic arm would allow me not only to practice my mechanical skills, but also delve into how electrical signals, something which we study so extensively, are produced on such a small scale. + +Processing muscle signals is a difficult task due to their irregular nature, as they do not contract in a completely synchronized manner. EKG signals are periodic, synchronized and have a consistent pattern, but they lack the challenge of analysing such complex signals (not to deny their difficulty, but looking at it in an objective manner). + +As such, I chose this project due to its nature and complexity, as I strongly believe it will help me develop skills which I may otherwise not have the chance to. + +## Architecture + +
+![Diagram](diagram.svg) +
+ +## Log + + + +### Week 4-5 +- Research on project ideas +- Found many open-source projects, there seems to be an even bigger community for this than I thought + +### Week 6-7 +- Started looking into tutorial regarding 3D modelling +- Found multiple possible issues with the tendon channel, prototyping is necessary + +### Week 8 +- First 3D renders, there is plenty of room for improvement, but have been getting more comfortable with Fusion + +### Week 9 +Working on the documentation. + +## Hardware + +The system uses **AD8232** EKG sensors, repurposed for EMG due to the high cost of specialised sensors. + +**Gel electrodes** are used for stabilising the signal, as the AD8232 is already noisy by default, with muscle signals introducing yet another degree of complexity. + +Everything is processed by an **STM32U545 Nucleo** microcontroller. **MG90S** servos will be used in the finger pulley system, as I need enough torque to counteract the force pulling the finger back in its neutral position. + +Generic string and elastic materials will be used for the tendons, such as fishing line for the flexors and springs for the extensors. + +### Schematics + +TODO + +### Bill of Materials + + + +| Device | Usage | Price | +|--------|------|------| +| [STM32U545 Nucleo](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) | Microcontroller | [borrowed] | +| [AD8232 EKG sensor](https://www.analog.com/media/en/technical-documentation/data-sheets/ad8232.pdf) | EMG signal acquisition (repurposed EKG module) | [35 RON x 3](https://www.optimusdigital.ro/ro/senzori-altele/1347-modul-senzor-ecg-ad8232.html?srsltid=AfmBOooAX5b3QDFkBnnuSQi5Ejg6U0BX_VEz3xrKOzaeQP8Z8HV6hnwI)| +| [MG90S Servo Motor](https://www.tinytronics.nl/product_files/000263_Data%20Sheet%20of%20MG90S%20Analog%20Servo%20Motor.pdf) | Finger actuation | [20RON x 3](https://sigmanortec.ro/en/servo-motor-mg90s-metal-gears) | +| Gel electrodes | Skin-signal interface | [30 RON](https://www.aviafarm.ro/cumpara/set-100-electrozi-adezivi-ecg-ovali-f9089-cu-gel-solid-si-senzor-ag-953?utm_source=portal&utm_medium=web&utm_campaign=google_xml&gad_source=1&gad_campaignid=22826372328&gbraid=0AAAAADQMw-p4DXuVPfSpT3SlDTUKEi_cz&gclid=CjwKCAjwqazPBhALEiwAOuXqdCRNGu_i0Rv1CSS49kxbpT8zRxvhcMcm2q3GkeL3nzO_ce6pKp12-xoCPNoQAvD_BwE) | +| Elastic bands / springs | Extensor tendon system | owned | +| Fishing line | Flexor tendon system | owned | + +## Software + +| Library | Description | Usage | +|---------|-------------|-------| +| [embassy-stm32](https://github.com/embassy-rs/embassy) | STM32 async runtime | Hardware control, ADC, PWM | +| [embassy-executor](https://github.com/embassy-rs/embassy) | Task scheduler | Real-time control loop execution | +| [embedded-hal](https://github.com/rust-embedded/embedded-hal) | Hardware abstraction | GPIO, ADC, PWM interfacing | +| [defmt](https://github.com/knurling-rs/defmt) | Embedded logging | Debugging and signal monitoring | +| [micromath](https://github.com/NeoBirth/micromath) | Lightweight math | Signal filtering and smoothing | + +## Links + + + +1. [Advanced version with high-end EMG sensors](https://www.youtube.com/watch?v=KSP4o_WCqVs) +2. [OpenBionics](https://openbionics.com/en/) +3. [OpenBionics open-source designs](https://github.com/OpenBionics/Prosthetic-Hands) From b15d6c4ad5322c3f0731992ed50f62044d1f2f5d Mon Sep 17 00:00:00 2001 From: Mihai Temiac Date: Sun, 10 May 2026 23:12:35 +0300 Subject: [PATCH 2/3] hardware and schematics --- .../project/2026/mihai.temiac/hand.webp | Bin 0 -> 54856 bytes .../project/2026/mihai.temiac/index.md | 19 +++++++++++++++++- .../project/2026/mihai.temiac/kicad.svg | 1 + .../project/2026/mihai.temiac/prototype.webp | Bin 0 -> 66994 bytes 4 files changed, 19 insertions(+), 1 deletion(-) create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihai.temiac/hand.webp create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihai.temiac/kicad.svg create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihai.temiac/prototype.webp diff --git a/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/hand.webp b/website/versioned_docs/version-fils_en/project/2026/mihai.temiac/hand.webp 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+![Hand build](hand.webp) +
+ ### Schematics -TODO +
+![Schematic](kicad.svg) +
### Bill of Materials @@ -102,3 +118,4 @@ The format is 1. [Advanced version with high-end EMG sensors](https://www.youtube.com/watch?v=KSP4o_WCqVs) 2. [OpenBionics](https://openbionics.com/en/) 3. [OpenBionics open-source designs](https://github.com/OpenBionics/Prosthetic-Hands) +3. 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z9>!)Q1eySVhyWpd`NYe+<{tt?i!4&W@_;k~;hsPJ6!F9r*hJd|I_O+b36>Mzpa(&r z<(D*l0cRrhAjZd%aIT~QQ#>vUsw)oUvN|zH|KQ7bp5USt0K)wM1j7o%pa2V>h$&a# zP_eO8fm)4aX{p?#a->x8WUH3$-~o;006+xiUv+!l?(0Y!4w&nRI=j6MWap%3J^CFb zB*+2Z)9|%+sU9w}BnnDP&;b$ACIAauzyJc##MJ?p6#$|tzc5R-fGHpV0B(xHo4rlp z)Ffrxm{YAk#WdmYZ=WNa{(9xQ_iBcyda)ub +![Hand build](hand.webp) + + +### Week 12 +The assembly has been completed, could say that the superglue was *handy*. You would think that a large hardware store would have all the tools you need, but sometimes you have to improvise (this time, I had to improvise a tad too much). + +Down below is my fully functional, high precision, low cost, hand drill (could not find a smaller electric drill, and I was not gonna spend the big buck on professional ones, hope I will not be working in construction anytime soon), as the tendon channels needed redrilling. + +
+![Micunealta](micunealta_secreta.webp) +
+ +Learnt what an *elephant foot* means in 3D printing; pairing grit paper with my ultra precision tool meant the job was (supposed to) be easy enough. 4 days later, I was still sanding down finger joints, else the servos would snap at the first tug. + +
+![Sanding](sanding.webp) +
+ +Also tested the code without the assembly, everything was looking good. Sample sensor, analyze, classify and respond with the correct motors. + +
+![Prototype](prototype.webp) +
+ +### Week 13 +Final push: the hand was complete, the assembly looked good, the mechanics ran smooth. + +
+![Palm](palm.webp) +
+ +For the future students taking this class, please do **demo videos**. You never know when things might go wrong. Installed an I2C module for the servo control, things ran great until they did not. Functional code, got a video of the servos moving, after which we got smoke coming out of the module. Safe to say, I was toast. Document your progress, stuff happens. + ## Hardware @@ -64,14 +99,14 @@ The system uses **AD8232** EKG sensors, repurposed for EMG due to the high cost Everything is processed by an **STM32U545 Nucleo** microcontroller. **MG90S** servos will be used in the finger pulley system, as I need enough torque to counteract the force pulling the finger back in its neutral position. -Generic string and elastic materials will be used for the tendons, such as fishing line for the flexors and springs for the extensors. -
-![Prototype](prototype.webp) +![Final Assembly](final_assembly.webp)
+Two tendons per finger, both via braided fishing line (strongest I could find in store was 24kg, no way the servos snap it). The extensor motion was achieved by tying orthodontic elastics (braces elastics) to a pin mounted in the servo bay, which pulled the finger to its neutral position after the tension was released; almost like a saw tooth. +
-![Hand build](hand.webp) +![Rock On](rockon.webp)
### Schematics @@ -80,6 +115,8 @@ Generic string and elastic materials will be used for the tendons, such as fishi ![Schematic](kicad.svg) +The **PCA9685** has been left out, as the project can run with or without it, via the **PWM** pins on the **STM**. If we were to install it, we would wire up the `SDA` and `SCL` pins, with power coming from the external power supply, (logic 3.3V comes from the STM). The servos are plug and play, provided you do not mess up their orientation. + ### Bill of Materials