Real-time control of a prosthetic robotic arm POPPY with muscle activities

[joelortiz]

hello,
Thanks very much

First:

@Thot

I see you use XL-320 to control hand but do you plug directly the first
XL320 to the elbow servo mechanism ? Or is there another wire to control
the hand ?

I tried to connect directly (XL-320 and MX-28) using a single connection, but there are two constraints:

• Different voltage (MX28: 12V ; XL 320: 7.4V)
• Different communication protocol (Pypot can’t change between the two protocols for the moment).

To avoid using two different source of power, i made a electronic card , where you can centralize the control.

Second:

@Thot

The book about convex optimisation is used in the video… did you read it ? Did you use convex optimisation to control the hand ?

I didnt used optimisation because I calculated the inverse Kinematics using trigonometric methods, fixing in one position the motor that was causing redundancy.

@Thot

For my artistic project, I will cut the hand to have 2 degrees of freedom at the wrist.

Finally, this arm is totally modifiable , in the documentation, you can find all the information necessary for tunning your own design.

Good Luck.