Project/anastasia.stanciu

website/versioned_docs/version-acs_cc/project/2026/anastasia.stanciu/index.md

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+# 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