diff --git a/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/index.md b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/index.md new file mode 100644 index 00000000000..099975def7a --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/index.md @@ -0,0 +1,79 @@ +# Robotic Hand + +A robotic hand that imitates the movement of a person's hand wearing a glove that has flex sensors on it. + +:::info + +**Author:** STANCIU Anastasia-Steliana \ +**GitHub Project Link**: https://github.com/UPB-PMRust-Students/acs-project-2026-anastasiilinca + +::: + +## Description +The project is a robotic, 3D printed hand, that is actiond through some basic wires and servo-motors, that imitate the signals from a control glove. The glove has flex sensors, one on each finger, sending continuos signals to the board and servo-motors. The hand shall have 2 features: copy gestures of the glove and play rock paper scissors with a huamn player wearing the glove. + +## Motivation +This idea fits perfectly in the medical field. The main two innovations branching from my project are: + +* It can be upgraded into a prosthetic hand that uses signals from an **EMG Muscle Sensor**, rather than from flex sensors. +* It can be used in **Kinetotherapy** to track the progress of patients and collect data and metrics, leading to both more customizable treatments and research data. +* It is a fun project, offering a great opportunity to discover hardware and human abilities in parallel, finding similarities and differences while learning how to model complex human movement. + +This project is about using hardware and technology to consolidate inclusion and break the boundaries of disabilities, creating a world of possibilities. + +## Arhitecture + +In this section we will discuss components and the interconnections between them. + +1. STM Board +Acționează ca unitatea de control de înaltă performanță. Procesează intrările analogice prin ADC-ul său de 12 biți (oferind o precizie mult mai mare decât Arduino) și generează semnale PWM pentru controlul celor 5 servomotoare. Funcționează la logică de 3.3V. +2. Servo-Motoare + Convertesc semnalele PWM în mișcare unghiulară. Fiecare servo controlează un deget al mâinii robotice. Deși primesc semnal de control de la STM32, necesită o sursă de alimentare separată de 5V pentru a susține consumul de curent. + +4. Flex Sensors + Senzori rezistivi plasați pe mănușă. Aceștia fac parte dintr-un circuit de divizor de tensiune. Tensiunea variabilă rezultată este trimisă către pinii analogici ai STM32 pentru a detecta gradul de închidere a fiecărui deget. + +6. Sursa de alimentare (baterii reincarcabile) + + ![Schematic](schematic_mana_robotica.webp) + +## Schematic in Fusion 360 +![Schematic_FUSION](schematic_robotic_hand_anastasia_stanciu.svg) + +## Log +### Week 14-20 april +Finalized project idea, name, details and features, including code and hardware concepts. +### Week 20-27 april +Ordered hardware components. +### Week 27-1 may +Realized the documentation and sent 3D hand model to print. + +## Hardware + +### Bill Of Materials +| Componentă | Pret | Cantitate | +| :--- | :--- | :---: | +| STM32 | Din dotarea facultatii | 1 | +| Servomotor SG90 | 13.00 | 5 | +| Flex Sensor | 35.00 | 5 | +| Fire mama-tata | 10.00 | 10 | +| Fire tata-tata | 10.00 | 10 | +| 10k Resitors | 1.23 | 10 | +| Breadboard | 9.99 | 1 | +| 3D model | - | - | +| (optional) EMG sensor | 100.00 | 1 | + +## Software +## Software Stack + +| Library / Module | Description | Usage | +| :--- | :--- | :--- | +| **embassy-stm32** | Hardware Abstraction Layer (HAL) | Provides async support for handling I2C, SPI, ADC, and PWM peripherals. | +| **HAL / LL Drivers** | Low-Level Drivers | Direct hardware access for managing ADC (flex sensors) and PWM (servos). | +| **Servo Control Logic** | Custom PWM Mapper | Algorithmic mapping of flex sensor resistance values to 0°-180° servo angles. | +| **Median Filter** | Signal Processing Module | Digital filtering to remove noise and jitter from analog signals for smooth movement. | +| **Embassy Executor** | Real-time Task Scheduler | Handling concurrent asynchronous tasks for sensor polling and motor updates. | + + +## Link to 3D model +https://www.thingiverse.com/thing:1294517 diff --git a/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_mana_robotica.webp b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_mana_robotica.webp new file mode 100644 index 00000000000..e7c56a9550e Binary files /dev/null and b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_mana_robotica.webp differ diff --git a/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_robotic_hand_anastasia_stanciu.svg b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_robotic_hand_anastasia_stanciu.svg new file mode 100644 index 00000000000..0631d1dcc42 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/schematic_robotic_hand_anastasia_stanciu.svg @@ -0,0 +1 @@ +