BackgroundBackground

Who does this project addresses to? Handicapped. Amputated limbs. Paralyzed.

Motivation Statistics

Project’s GoalsProject’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 DiagramBlock Diagram

A/D Converter MicroControllerFILTER AND AMPLIFIER

CIRCUIT

Laser 4 R/C

Camera

Electrodes In Back

Robotic Arm

Camera Monitor

DemonstrationDemonstration

LinkLink

Design StagesDesign Stages

Create interface between radio Create interface between radio transmitter and microcontroller.transmitter and microcontroller.

Control the robotic arm & vehicle by Control the robotic arm & vehicle by microcontroller. microcontroller.

Design and build Amplifying and Design and build Amplifying and Filtering circuit.Filtering circuit.

Sample the EMG signal and Sample the EMG signal and translate it to movement commands.translate it to movement commands.

The EMG SignalThe EMG Signal

An EMG signal is a small electrical An EMG signal is a small electrical current that is released when a muscle current that is released when a muscle is contracted. is contracted.

The EMG signal can be read or The EMG signal can be read or measured by placing conductive measured by placing conductive elements or electrodes on skin surface. elements or electrodes on skin surface.

The voltage level of the signal is 0.01-10mV at freq range of 0-500Hz

Filter & Amplifier Filter & Amplifier CircuitCircuit Uses Instrumentation AmplifierUses Instrumentation Amplifier

and and Universal Active Filter.

Amplifies the low measuredAmplifies the low measured

signal to make it suitable for a signal to make it suitable for a sample. sample.

Filters Background noise. Filters Background noise.

Micro Controller - Micro Controller - Pic18Pic18

A/D-A/D-Sample a analog signal that Sample a analog signal that already been filtered and amplified.already been filtered and amplified.

The resolution- 10 bit, 4.88mV/bit.The resolution- 10 bit, 4.88mV/bit. Create interface to radio transmitterCreate interface to radio transmitter

PWM signal.PWM signal.

Ch 1 Ch 2 Ch 3 Ch 4 Ch 5

5v

0v

Long Sync Pulse

Sync Pulse

Sync Pulse

Sync Pulse

Sync Pulse

Sync Pulse

Sync Pulse

Micro Controller - Micro Controller - Pic18Pic18

A/D Avaraging Decision

Creatingoutput signal

EMG Sign

al

Communication Communication SystemSystem Laser 4 Remote control Laser 4 Remote control

Receives the signal from Receives the signal from

microcontroller. microcontroller. Modulates and transmit 72MHz FM Modulates and transmit 72MHz FM

modulated signalmodulated signal.. The Hitec HFD-08RO receiver The Hitec HFD-08RO receiver

Located on the mobile vehicle Located on the mobile vehicle Demodulates the FM Signal Demodulates the FM Signal Parsers the received data to 8 channelParsers the received data to 8 channel

Robotic Arm Robotic Arm &Vehicle&Vehicle The robotic arm is based on Hi-Tech servo motors. The angel of the motor is The angel of the motor is

determined by the width of the PWM it determined by the width of the PWM it gets. gets.

The robotic arm controlled by 5 PWM channels (have 5 motors).

4X4 weal drive vehicle controlled by 2 PWM channels.

Digital Camera & Digital Camera & MonitorMonitor

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 researchFuture research

Working a circuit board (will reduce Working a circuit board (will reduce noise ).noise ).

Reducing size of communication Reducing size of communication system.system.

Working in frequency domain with Working in frequency domain with DSP processor .DSP processor .

Reduce energy consumption.Reduce energy consumption. Integrate EEG-electric signals from Integrate EEG-electric signals from

the brain.the brain.