MicroMedic(2013(National(Contest(Submission:(

(The(Arduino(Prosthesis(Using(the(Neurosky(

Mindwave((

Developed(by(Shiva(Nathan((

Student(at(Westford(Academy,(Westford,(MA((

Sophomore(Year(=(Fall(of(2013((((((((((((

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(((((((

TABLE(OF(CONTENTS:( ( ( ( ( Page(Number((

1.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDAcknowledgments(( ( 3(

2.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDOverview(( ( ( ( 4(

3.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDInnovation((( ( ( 5(

4.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDMicrocontroller(( ( ( 6(

5.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDMethod(of(Operation(( ( 6(

6.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDFuture(Work(( ( ( 10(

7.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDAppendices(( ( ( 11(

8.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDSoftware/Driver(Code(( 24(

9.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDBill(of(Materials(( ( ( 29(

10.0 DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDReferences( ( ( ( 30(

( 3(

(

(1.0(Acknowledgments((The( author(would( like( to( thank(Dr.( Thomas( Talbot( and(Mr.( Ken( Gracey( for(their( constructive( and( valuable( feedback( on( the( construction( and( design( of(the(project.(Gratitude( to(Mr.( Jeff(Teda( for(providing( software( resources,(Mr.(James( Knight( for( proofreading( the( software,( and( the( author’s( father( for(providing(general(advice.(The( author( wishes( to( recognize( the( Arduino( Group( and( Neurosky( Inc.( for(graciously( providing( software( and( hardware( schematics,( programs,( and(designs.(

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(2.0(OVERVIEW(

( The( Arduino( Prosthesis( is( a( low( cost( Prosthetic,( a( Brain( Control(Interface((BCI)(device(that(can(be(fitted(onto(amputees’(limbs.(MindDWaves(–(or( more( precisely( the( ability( of( the( mind( to( focus( and( to( concentrate( –(controls( the( Prosthetic.( This( is( accomplished( by( using( an( inexpensive( EEG((ElectroDEncephaloDGram)(reader(that(can(be(worn(on(the(head,(like(a(pair(of(headphones(using(a(headband.((This(external(device(is(in(contrast(to(current(expensive(devices(that(require(an(implanted(electrode(in(the(arm(or(leg(and(require( training( for( effective( usage.( Also,( some( of( the( more( expensive(prosthetics(require(myoDelectric(impulses(to(control(the(actuators.(

( The(Arduino(Prosthesis(is(an(upperDextremity(prosthetic(arm(that(uses(a(microcontroller( to(measure( the(brainwaves(registered(by(an(EEG(headset,(and(has( servos( in( the( arm(and(wrist( bend( the( elbow(and( the( fingers( of( the(prosthetic( hand( based( on( those(measurements.( The( prosthetic( can( be( from(twelve( (12)( to( eighteen( (18)( inches( long.( It( uses( signals( from( the( brain( to(affect( the( function( of( the( arm.( ( The( components( are( openDsourced( and( low(cost:( an(Arduino(microcontrollerDcommunicates(with(a(Neurosky(Mindwave(EEG(headset.(Futaba(servomechanisms(control(the(bending(of(the(elbow(and(the(fingers,(which,(along(with(the(arm,(are(made(from(acrylic.(When(the(user(concentrates(hard(enough,(their(brainwaves(cause(the(arm(to(rotate(and(flex(the(fingers.(

( The( microcontroller( is( an( Arduino( device,( a( fully( openDsourced(microcontroller( for( which( schematics,( programs,( and( modifications( can( be(found( across( the( Internet.( There( are(multiple(models,( and( several( different(accessories(are(available( for(each.(The(various(models(are(usually(only($30,(and(can(be(programmed(with(a(programming(language(similar(to(C.(Programs(available(on(the(Internet(provide(additional(features,(such(as(software(serial(ports(or(the(ability(to(connect(multiple(microDcontrollers.((

( The( Arduino( Prosthesis( is( a( significant( innovation( because( it( is( less(expensive( than( other( prostheses,( and( can( be( expanded( beyond( its( original(parameters.( As( the( components( are( not( expensive,( it( is( open( to( multiple(iterations(in(its(design.(It(can(be(expanded(to(have(extra(control(and(sensors(incorporating(touch(sensing(and(force(sensing.(If(something(should(happen(to(it,(the(microcontroller(and(servos(can(be(quickly(replaced,(and(the(rest(of(the(arm(can(be(repaired(or(restored(to(its(original(specifications.(The(modularity(also(means(that(as(the(user(grows,(the(electronics(can(be(shifted(into(a(larger(arm(housing(without(much(difficulty.( The(openDsource(nature(of( the(device(

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allows( any(person(with( Internet( access( to( share( their( knowledge(of( how( to(improve( the(device,( thus(drawing(upon( the( collective( knowledge(of( experts(around(the(world.(

3.0(INNOVATION(

( Early(prosthetics(were(simple.(They(were( frequently(only(small(digits(that( were( immovable,( or( more( famously,( pegs( and( hooks.( Later( advances(enabled(the(movement(of(the(prosthesis,(but(they(looked(very(different(from(a(human(hand.(They(were(claws(that(would(not(have(looked(out(of(place(on(industrial( robots.( As( technology( advanced,( the( hands( became(more( natural.(However,( they( still( required( cables( and( harnesses( to( be( attached( to( the(working(arm(to(pull(them.(Myoelectric(prostheses(were(developed,(providing(more( freedom( of( movement( and( more( movement( in( general.( However,(myoelectric( prostheses( are( very( expensive.( In( addition,( they( rely( upon( the(nerves( of( the( arm( to( be( undamaged.( Should( the( nerves( be( damaged,( the(myoelectric(is(useless.((

( But(what( if( the( electrical( signals( could( be( received( at( the( source?( By(reading( the(electrical(signals(and(brainwaves(directly( from(the(cranium,( the(major(drawback(of(expensive(myoelectric(prostheses(can(be(avoided(entirely.(However,( reading( of( electrical( signals( directly( from( the( brain( requires(multiple( unwieldy( electrodes( to( be( placed( on( or( in( the( brain.( The( Arduino(Prosthesis,(however(has(solved(this(problem(using(another(method.(

( The( major( innovation( of( the( Arduino( Prosthesis( is( the( usage( of( the(MindWave( Mobile.( Without( resorting( to( electrodes( or( implants( and(potentially( dangerous( surgery,( the(MindWave( can( easily( track( and( transfer(the( user’s( Alpha,( Beta,( Gamma,( Delta,( and( Theta( brainwaves,( as( well( as(aggregate(them(into(focus(and(relaxation,(as(seen(in(Figures(1a(and(1b.(

( The(aggregation(of(focus(and(relaxation(provides(a(very(simple(method(of( training(the(user.(Rather(than(trying(to( increase(their(Alpha(waves,(when(many(will( not( even( know(what( an( Alpha(wave( is,( the( users( can( be( told( to(focus.(The(act(of(focusing(is(much(more(straightforward(and(simpler(than(the(act(of(raising(a(single(brainwave.(Where(once(dozens(of(electrodes(needed(to(be(placed(on(the(scalp,(now(a(simple(headset(will(perform(just(as(well,(if(not(better.( The( headset( is( also( far( less( intrusive( and( expensive( than( a( bevy( of(electrodes.( By( combining( the( MindWave( with( the( Arduino,( it( becomes(possible( for( the(user( to(wear( the(headset(and( focus(on(moving( the(Arduino(Prosthesis.(Bluetooth(capability( truly( frees( the(user( from(having( to(wire( the(headset(to(the(arm,(and(even(enables(the(user(to(completely(detach(the(arm(from( their( body( and( use( it( as( a( nearly( autonomous( device.( All( this(

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functionality(is(provided(at(a(price(of(under($1000.(The(MindWave(itself(costs(less(than($100.((( Another( advantage( is( the( openDsource( nature( of( the( device( and( its(software.( Because( all( of( the( schematics( and( programs( are( freely( available(online,(any(person(with(Internet(access(can(find(them.(They(can(then(use(the(information(to(fix(problems,(add(new(functionality,(and(then(share(it(with(the(world.( Essentially,( the(whole(world( is( combining( its( knowledge( to( improve(the( device.( Because( new( knowledge( is( constantly( being( formed,( the( device(can( be( constantly( improved,( with( low( overall( cost( in( research( and(development.(More(details(about(the(MindWave’s(operation(can(be(found(on(its(website,(see(Ref([1].(((4.0(MICROCONTROLLER((( The(Arduino(Mega(2560(is(the(highDend(model(of(the(Arduino(Group’s(line( of( products.( Boasting( 54( I/0( ports,( 18( analog( ports,( 4( serial( ports,( and(several(shield(connectors;(the(Arduino(Mega(is(the(perfect(microcontroller(to(manipulate( a( prosthetic( arm.( The( Arduino( Mega( uses( two( serial( ports( to(communicate(with( the(MindWave(and( the(Dynamixel(MXD64(servomotor.(At(the( same( time,( it( is( able( to( send( PWM( output( to( the( Futaba( BLS155(servomotor.( ( By( reading( the( incoming( brainwaves( from( the( MindWave(Mobile,( the( Arduino( Mega’s( software( decides( the( values( of( focus( and(relaxation(to(move(the(Futaba(and(Dynamixel(servomotors,(respectively.((( The( Arduino( Mega( 2560( is( inexpensive( and( is( a( completely( openDsource( device( from( both( hardware( and( software( point( of( view,( and( can( be(easily( programmed( with( a( variety( of( sources,( from( Processing( to( C/++( to(Touch(OSC.((It(also(enables(the(construction(of(any(kind(of(software(library(for(any(kind(of(device.(((5.0(METHOD(OF(OPERATION(( DESIGN(DISCUSSION:(SOFTWARE(AND(HARDWARE(( The( Arduino( Prosthesis( is( separated( into( two( major( parts:( the( hand(and( the( elbow.( ( The( hand( is( designed( to(mimic( the( shape( of( a( real( human(hand.(The(prosthetic(arm(features(a(curved(base((i.e.(palm)(with(the(fingers(at(differing( elevations,(which( helps( to( change( their( heights.( The( thumb(on( the(prosthetic(is(perpendicular(to(the(rest(of(the(arm,(because(there(is(simply(not(enough(processing(or(motor(space(to(fit(all(the(motors(needed(to(provide(all(the(ranges(of(motion(in(a(real(thumb.(Its(use,(therefore,(has(to(be(prioritized.(

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The(priority(is(using(the(thumb(for(gripping.(To(aid(with(gripping,(the(thumb(is(perpendicular,(like(fingers(so(that(it(will(bend(into(the(rest(of(the(hand(and(provide(extra(grip.(( (( Each(finger( is(composed(of(three(segments.(Each(segment(has(at( least(one(45Ddegree( cut.(When( the( segments( come( together,( the( cuts( interlock( to(form(a(perfect(90Ddegree(flex(that(simulates(that(of(a(true(finger((see(Figures(6( and(7).#To( rotate( the( fingers( to( a( straightened( state,( compression( springs(placed( between( the( segments( force( them( outwards( when( the( servo( is( not(pulling( on( them.( Rather( than( multiple( servos,( that( complicate( software,(weight,( and( price,( inexpensive,( compression( springs( provide( a( reliable(solution.(They(also(simplify(repair.(Should(the(spring(break,(it(just(needs(to(be(removed( and( replaced.( Multiple( servos( reduce( reliability( and( increase(chances(of(failure.((( The(usage(of(segments(and(springs(in(the(fingers(enables(clean,(natural(flexing(without(resorting(to(servomotors(inside(each(segment(and(raising(the(weight( and( cost.( Instead,( a( single( servo( can( be( used( to( flex( all( the( fingers.(Using( a( single( servo( keeps( costs( low( and( also( simplifies( troubleshooting.(Should(it(break(down,(it(can(be(easily(replaced.(In(addition,(the(simplicity(of(the(device(lends(reliability.(One(single(servo(to(control(all(fingers(is(much(less(likely(to(break(and(simpler(to(replace(than(five,(working(in(tandem.((( From(a(software(design(standpoint,(a(single(servo(simplifies(the(coding(and(functionality(to(make(a(reliable(device.(The(finger(flexing(servo,(however,(must(be(powerful( yet( lightweight.(Each( finger( requires( roughly(25(oz.Din.( of(torque(to(fully(bend,(or(125(oz.Din.(of(torque(in(all.(They(are(connected(to(the(servo( horn( via( a( twoDinch( long(metal( cable( harness( adapter.( Therefore,( the(servo( must( have( at( least( 250( oz.in( of( stall( torque( in( order( to( provide( the(flexing( torque.( Accordingly,( the( servomotor( chosen(was( the( Futaba(BLS155(servomotor.(It(is(lightweight,(requires(only(7.5(volts((~(2(Amps),(and(provides(the(stall(torque(of(250(oz.Din.(required(to(flex(every(finger.(Refer(to(Figures(9(and(10(for(electrical(diagrams(and(software.(#( The(elbow(follows(the(same(principles(of(a(real(elbow,(but(not(the(same(design.(In(a(human(elbow,(the(muscles(contract(on(either(side(to(pull(the(arm(into( position.( In( the( prosthetic( elbow,( there( is( no( contracting( involved.( The(prosthetic( elbow( also( serves( to( reinforce( the( arm( and(hand.( The( prosthetic(elbow( is( designed( in( the( shape( of( a( tuning( fork.( The( handle( secures( the(bracket(to(the(servomotor(through(an(M8(screw.(The(two(arms(of(the(tuning(fork(serve(to(secure(the(arm(to(the(bracket.(((

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( The( arms( are( rods( of( PolyDVinylDChloride( (PVC)( plastic( with( slots(through( their( diameter.( These( slots( are( just( wide( enough( to( fit( the( hand;(hence(the(hand(is(slotted(into(the(bracket(of(the(tuning(fork(and(glued(down.(Friction( and( adhesives( act( to( prevent( the( arm( from( falling( off( the( elbow.(Essentially,(the(tuning(fork(bracket(secures(the(arm(to(the(elbow(servomotor.(To(prevent(the(servomotor(itself(from(moving,(it(is(mounted(to(a(secure(base((in( practice,( the( stump( of( the( arm).( Thus,( when( the( servomotor( spins,( it(actually(rotates(the(bracket,(which(is(secured(to(the(arm,(and(forces(the(arm(to(turn((see(Figures(3(and(5).(Having(to(lift(the(arm(and(all(of(its(components(puts(a(massive(strain(on(the(servomotor.(To(ease(the(load,(much(of(the(parts(are( made( from( PVC.( Every( part( of( the( tuning( fork( bracket,( except( the( M8(screw,(is(made(of(PVC.(In(addition,(the(finger(segments(are(entirely(PVC(and(plastic.( A( reasonably( strong(material( for( its(weight,( PVC( is( inexpensive( and(can(be(easily(purchased;(two(major(reasons(for(its(inclusion(in(the(arm.(It(can(also(be(quickly(and(easily(shaped,( repaired,(or(replaced.(However,(not(all(of(the(parts(are(made(of(PVC.((To(rotate(the(bracket(and(the(arm,(which(contains(most( of( the( nonDPVC( parts,( about( 600( oz.Din.( of( stall( torque( is( required.(Therefore,(the(servomotor(chosen(was(the(Dynamixel(MXD64T.(((( The(Dynamixel( is( a( serialDcontrolled( servomotor(with( its( own( inbuilt(microcontroller.(It(is(relatively(lightweight(and(at(an(operating(voltage(of(12(V(and(2(amps,(it(has(a(stall(torque(of(849(oz.Din.(The(extra(stall(torque(provides(a(wide(range(of(rotation(speeds(as(well(as(smooth(movement.(Refer(to(Figures(7(and(8(for(electrical(diagrams(and(software.(( (( Controlling( both( servomotors( requires( an( extra( investment( in(processing(power,(as( the(Dynamixel(MXD64T(operates(on(a(serial(port(while(the(Futaba(BLS155(is(controlled(via(PWM(output.(In(addition,(the(MindWave(Mobile(also(requires(a(serial(port(for(the(BLUESMiRF.(All(of(this(functionality(comes(from(a(lowDcost,(openDsourced(device.(((( Such( a( device( is( the( Arduino( Mega.( The( Arduino( Mega( is( a( $60(microcontroller( with( 54( I/O( pins,( 18( analog( pins,( and( most( crucially,( four(independent(serial(ports.(Two(of(those(ports(are(used(to(receive(data(from(the(BLUESMiRF(and(control( the(Dynamixel(servomotor,(and(one(of( the( I/O(pins(controls( the( Futaba( servomotor.( (See( Figure( 9( for( electrical( diagram).( ( To(prevent( the( electronics( and( the(mechanical( components( from( touching( the(and(potentially( interfering(with(each(other,( the(electronics(are(all( stored(on(the( backside( of( the( arm.( It( is( a( flat,( clean( surface,( perfect( for( securing(electronics.(The(front(of( the(arm(houses(all( the(cables,(wires,(servos,(hinges,(and(springs.(The(arm(itself(serves(as(an(excellent(organization(tool.(This(also(makes(it(simple(to(repair.(If(fixing(a(broken(wire(in(the(Arduino,(one(does(not(

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have(to(risk(breaking(a(finger(spring.(If(replacing(a(finger(cable,(there(is(little(risk(of(shattering(the(BLUESMiRF.((( When(all(of( this(technology(comes(together,( the(Arduino(Prosthesis( is(formed.(When( the( user( focuses( or( relaxes,( the(MindWave(Mobile( reads( the(user’s( brainwaves.( It( then( transmits( those( signals( via( Bluetooth( to( the(BLUESMiRF( Silver.( The(BLUESMiRF( then( relays( said( signals( to( the(Arduino.(The(Arduino’s(software(has(two(threshold(values(of(attention(and(meditation,(one( for( each( servo( in( the( arm( and( elbow.(When( the( user’s( attention( values(and(meditation( values( pass( their( respective( thresholds,( the(Arduino( directs(the( servos( to( rotate( to( specific( angles,( again( specified( by( the( software.( The(process(is(summarized(in(Figure(2.(

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(6.0(FUTURE(WORK( (( (( Newer( prostheses( will( use( smaller,( integrated( battery( packs.( The(current(device(uses(large,(unwieldy(wallDmounted(power(supplies.(In(order(to(make(the(device(portable,(lighter,(more(powerful(custom(power(supplies(will(need(to(be(integrated(into(the(device.((( Custom( builtDparts( will( be( used( instead( of( offDtheDshelf( parts.( While(that( appears( counterintuitive( to( the( main( goal( of( the( Arduino( Prosthesis,(customDbuilt(parts(are(aesthetically(pleasing(and(can(be(made(into(a(product.(CustomDprinted( parts( will( be( designed( to( fit( into( and( seamlessly( join( with(each(other,(creating(a(higher(quality,(sturdier,(betterDlooking(prosthesis.((( Capacitive( fingertips( will( enable( the( prosthetic( to( interface( with( a(smart(device..((( The( smart( prosthetic( arm( will( have( an( app( with( a( list( of(preprogrammed(subroutines(that(can(be(uploaded(to(the(Arduino(by(tapping(the(specified(routine.(In(this(way,(the(Arduino(can(operate(multiple(complex(motions(without( overly( complicating( the( software.( Separating( each( routine(into(a(different(program(frees(up(space(and(memory(on(the(Arduino(to(keep(the(arm(smoothly(running,(while(also(providing(the(true(range(and(freedom(of(a(human(arm.(The(MindWave(Mobile(will(still(be(used(to(control(the(arm,(but(it(will(instead(control(the(movement.((( Dampeners(will(prevent( jerky(motions(and(keep(the(movement(of(the(arm(more( natural.( A( third( degree( of( freedom(will( be( added( by( designing( a(rotating(wrist.((Blink(detection(will(be(used(to(operate(the(wrist.(This(will(aid(in(the(operation(of(subroutines(used(by(the(Arduino,(and(also(add(to(the(range(of(motion(and(freedom(present(in(human(arms.((( Leap(Motion(support(will(be(integrated(into(the(arm.(The(Leap(Motion(is(a(motionDtracking(device(that(connects(to(a(personal(computer(and(can(register(and(display(the(user’s(hand(motion.(In(addition,(it(provides(usage(of(many(software(applications(to(provide(handsDfree(interfacing(with(a(digital(device.(The(Leap(Motion(can(be(used(in(conjunction(with(the(arm(to(control(it(from(longDdistance.(For(example,(the(Leap(Motion(can(direct(the(prosthetic(to(pick(up(a(camera(and(use(it(to(take(a(picture(of(the(wearer.

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7.0(APPENDICES((Figure(1a:(MindWave(Mobile(Displaying(Brainwave(Fluctuations(

Figure(1b:(MindWave(Mobile(Displaying(Aggregated(Values(of(Attention((

( ( and(Meditation(as(Graphical(Values(

Figure(2:(Visual(Representation(of(Operation(of(Prosthesis( (

Figure(3a:(Photo(Displaying(Components(of(Prosthetic(Hand(

Figure(3b:(Photo(Displaying(Electronic(Components(Mounted(To(( (

( ( Prosthetic(Arm(

Figure(3c:(Schematic(of(Arm(showing(Key(Dimensions(Of(The(Various((

( ( Components(

Figure(4a:(Photo(Displaying(Components(of(Elbow(

Figure(4b:(Comparison(Of(Prosthetic(Elbow(To(Natural(Elbow(

Figure(5:(Diagram(Of(Artificial(Digit(With(Dimensions(

Figure(6:(Diagram(Of(Artificial(Finger(In(Flexed(Position(

Figure(7:(Schematic(Of(Elbow(Mechanism(With(Dimensions(

Figure(8:(Electrical(and(Wiring(Schematics(

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(((((

Figure(1a:(The(MindWave(Mobile(program(displaying(brainwave(fluctuations.(In(the(bottom(corner(are(two(dials(that(provide(visual(representations(of(the(aggregated(values(of(attention(and(meditation.(

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(

Figure(1b:(MindWave(Mobile(displaying(aggregated(values(of(attention(and(meditation(as(graphical(values.(Above(the(threshold(value(of(50,(the(Arduino(will(direct(the(servos(to(flex(the(fingers(and(elbow.(The(high(threshold(value(is(to(prevent(accidental(motion(of(the(prosthesis.(ATTENTION(in(red(MEDITATION(in(blue(

SERVO(THRESHOLD(VALUE:(50(

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((((((((((((((((((

(((((

((((

(((

Figure(2:(Visual(Representation(of(Operation(of(Prosthesis(( (

MindWave((((((((((((((((((((((((((BLUESMiRF( ( (((((((Arduino(((((Mobile( ( ( Silver( ( ( ((((((((((Mega(

Dynamixel(MXD64T((Elbow(Control)((

Futaba(BLS155((Finger(Control)(

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(((((

((((((

( (

(FINGERTIP(((FINGER((SEGMENT(((COMPRESSION((SPRING((SERVO((CABLE(((((((SERVO((HORN((ARM((BRACKET(((((((

Figure(3a:(Photo(Displaying(Components(of(Prosthetic(Hand#

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((

((HINGES(USED(FOR(BENDING((((((BLUESMiRF(HARNESS((BLUESMiRF(((ARDUINO(MEGA((((((WIRING(HARNESS((####FUTABA(BLS155(((((((

Figure(3b:(Photo(Displaying(Electronic(Components(Mounted(To(Back(of(Prosthetic(Arm#

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(

Figure(3c:(Schematic(of(Arm(showing(Key(Dimensions(Of(The(Various(Components#

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((

((Figure(4a:(Photo(Displaying(Components(of(Elbow(

((ELBOW((BRACKET(((((M8(SCREW((SERVO(BRACKET((SERVO(HORN((((DYNAMIXEL(MXD64T(SERVOMOTOR((((SERVO(ADAPTOR((((((((((PVC(FLANGE(BASE((

(

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((

Figure(4b:(Comparison(Of(Prosthetic(Elbow(To(Natural(Elbow(

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((

Figure(5:(Diagram(Of(Individual(Digit(With(Dimensions(

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((

(Figure( 6:( Diagram( Of( Individual( Finger( In( Flexed( Position

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((

((((((((Figure(7:(Schematic(Of(Elbow(Mechanism(With(Dimensions#(((((

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(((((

(((((((

(((

(((

((((((

((Figure(8:( Electrical(and(Wiring(Schematics((NOTE(1:( ( DYNAMIXELDARDUINO(PIN(16{SERIAL(2}(( ( ( FUTABADARDUINO(PIN(9{PWM}(( ( ( BOTH(SERVO(GROUNDSDARDUINO(VOLTAGE(GROUNDS(( ( ( BLUESMIRFDARDUINO(PIN(0{SERIAL(0}(( ( (

FUTABA((BLS155((fingers)( DYNAMIXEL(

MXD64T((elbow)(

7.5(V;(2A(Power(Supply(

12(V,(2A(Power(Supply(

BLUESMiRF(

ARDUINO(MEGA(

( 24(

(8.0( FUTABA( BLS155,( AND( DYNAMIXEL( MX=64( DUAL(CONTROL(PROGRAM(CODE(WITH(MINDWAVE(MOBILE(!(#include(<Dynamixel_Serial.h>(//Dynamixel(library(use(TX2)(#include(<Servo.h>(//(Servo(library(#define(BAUDRATE(115200((//original:(115200(#define(DEBUGOUTPUT(0(//original('0'(#define(BLUESMIRFON(2(//VCC(pin(for(BlueSmirf(goes(here(#define(LED(13(//debug(LED(#define(servoPin(9(//(pin(for(Futaba(BLS155(#define(SERVO_ID(0x01((( ( ( ( ( ( ( ( ( ( ( ( (//((Use(pin(16(for(DATA)(ID(of(which(we(will(set(Dynamixel(too((#define(SERVO_ControlPin(0x10(( ( ( ( ( (//(Control(pin(of(buffer(chip,(NOTE:(this(does(not(matter(because(we(are(not(using(a(half(to(full(contorl(buffer.(#define(SERVO_SET_Baudrate(57600((((//(Baud(rate(speed(which(the(Dynamixel(will(be(set(too((57600)(#define(LED13(0x0D(( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( (//(Pin(of(Visual(indication(for(runing("heart(beat"(using(onboard(LED(#define(TX_DEALY(2000(((((((((((((((//({Delay}in(uSec(#define(CW_LIMIT_ANGLE(0x3E8((((((((//(({Hexadecimal}(lowest(clockwise(angle(is(1,(as(when(set(to(0(it(set(servo(to(wheel(mode(#define( CCW_LIMIT_ANGLE( 0xBB8( ( ( ( ( ( ( //( {Hexadecimal}( Highest( anitDclockwise(angle(is(0XFFF,(as(when(set(to(0(it(set(servo(to(wheel(mode((//Initialize(any(other(pins(here(Servo(servo1;(//initialize(Futaba(BLS155(((//(checksum(variables(byte(generatedChecksum(=(0;(byte(checksum(=(0;((int(payloadLength(=(0;(byte(payloadData[64](=({(((0};(byte(poorQuality(=(0;(byte(attention(=(0;(byte(meditation(=(0;((//(system(variables(long(lastReceivedPacket(=(0;(boolean(bigPacket(=(false;((//////////////////////////(

( 25(

//(Microprocessor(Setup(//(//////////////////////////(void(setup()({((((delay(1000);(//for(Dynamixel(MXD64(to(boot(((pinMode(LED,(OUTPUT);(((pinMode(BLUESMIRFON,(OUTPUT);(//initalize(BlueSMiRF(((digitalWrite(BLUESMIRFON,(HIGH);(//power(to(BlueSMiRF(((Serial.begin(BAUDRATE);(((//(USB(Dynamixel.begin(SERVO_SET_Baudrate,(SERVO_ControlPin,(TX_DEALY);( ( ( ( ( ( ( (//(We(now(need(to(set(Ardiuno(to(the(new(Baudrate(speed((Dynamixel.setMode(SERVO_ID,( SERVO,( CW_LIMIT_ANGLE,( CCW_LIMIT_ANGLE);((((//(set(mode(to(SERVO(and(set(angle(limits(servo1.attach(servoPin);(}((////////////////////////////////(//(Read(data(from(Serial(UART(//(////////////////////////////////(byte(ReadOneByte()({(((int(ByteRead;((((while(!Serial.available())((({(((}((((ByteRead(=(Serial.read();((#if(DEBUGOUTPUT(((((Serial.print((char)ByteRead);(((//(echo(the(same(byte(out(the(USB(serial((for(debug(purposes)(#endif((((return(ByteRead;(}((/////////////(//MAIN(LOOP//(/////////////(void(loop()({((((//(Look(for(sync(bytes(((if(ReadOneByte()(==(170)({(((((if(ReadOneByte()(==(170)({((((((((payloadLength(=(ReadOneByte();(((((((if(payloadLength(>(169)((((((((((((((((((((((//Payload(length(can(not(be(greater(than(169(

( 26(

((((((((((return;((((((((generatedChecksum(=(0;(((((((((((((((for(int(i(=(0;(i(<(payloadLength;(i++)({(((((((((((payloadData[i](=(ReadOneByte();((((((((((((//Read(payload(into(memory(((((((((generatedChecksum(+=(payloadData[i];(((((((}(((((((((((checksum(=(ReadOneByte();((((((((((((((((((((((//Read(checksum(byte(from(stream(((((((((((((generatedChecksum(=(255(D(generatedChecksum;( ( (//Take(one's(compliment(of(generated(checksum((((((((((if(checksum(==(generatedChecksum)({((((((((((((((poorQuality(=(200;(((((((((attention(=(0;(((((((((meditation(=(0;((((((((((for(int(i(=(0;(i(<(payloadLength;(i++)({((((//(Parse(the(payload(((((((((((switch((payloadData[i])({(((((((((((case(2:(((((((((((((i++;(((((((((((((((((((((((((poorQuality(=(payloadData[i];(((((((((((((bigPacket(=(true;(((((((((((((((((((((((((break;(((((((((((case(4:(((((((((((((i++;(((((((((((((attention(=(payloadData[i];(((((((((((((((((((((((((((((((((((((break;(((((((((((case(5:(((((((((((((i++;(((((((((((((meditation(=(payloadData[i];(((((((((((((break;(((((((((((case(0x80:(((((((((((((i(=(i(+(3;(((((((((((((break;(((((((((((case(0x83:(((((((((((((i(=(i(+(25;(((((((((((((((((((break;(((((((((((default:(((((((((((((break;(((((((((((}(//(switch(((((((((}(//(for(loop((#if(!DEBUGOUTPUT((

( 27(

((((((((//(***(Add(your(code(here(***(((((((((((((if(attention(>=(30)((((((({((((((((((for(int(z=160;(z>=0;(z(=(zD40)((((((((((/*(Make(sure(that(IF(is(used(and(not(WHILE((((((((((DO(NOT(USE(BREAK(OR(RETURN(*/(((((((((({((((((((((((servo1.write(z);((((((((((((delay(200);((((((((((}((((((((((Serial.print("Futaba(ON");((((((((((/*(The(Futaba(and(Dynamixel(CANNOT(run(simultaneously((((((((((If(their(parameters(are(both(fulfilled,(they(will(each(run(PARTIALLY(((((((((((and(let(the(other(one(work((((((((((They(only(run(fully(if(the(other's(parameters(are(NOT(fulfilled((((((((((*/(((((((}(((((((((((((((if(meditation(>=(50)((({((Serial.print("Dynamixel(ON");((Dynamixel.servo(SERVO_ID,0x3E8,0x075);( ( ( //( Move( servo( to( angle( 1(0.088(degree)(at(speed(100(((delay(1500);((((Dynamixel.servo(SERVO_ID,0xBB8,0x075);( ( //( ( Move( servo( to(max( angle( at(max(speed((((delay(1500);(((}(((((((((((((((((((((((((((((((((((((((

( 28(

((//Read(brainwave(data(from(BLUESMiRF(and(display(it(on(serial(monitor(((((((((((((if(bigPacket)({(((((((((((if(poorQuality(==(0)(((((((((((((digitalWrite(LED,(HIGH);(((((((((((else(((((((((((((digitalWrite(LED,(LOW);(((((((((((Serial.print("PoorQuality:(");(((((((((((Serial.print(poorQuality,(DEC);(((((((((((Serial.print("(Attention:(");(((((((((((Serial.print(attention,(DEC);((((((((((((Serial.print("(Meditation:(");(((((((((((Serial.print(meditation,(DEC);((((((((((((((((((((((Serial.print("(Time(since(last(packet:(");(((((((((((Serial.print(millis()(D(lastReceivedPacket,(DEC);(((((((((((lastReceivedPacket(=(millis();(((((((((((Serial.print("\n");(((((((((}(#endif(((((((((((((((((bigPacket(=(false;(((((((((((((((}(((((((else({(((((((((//(Checksum(Error(((((((}((//(end(if(else(for(checksum((((((}(//(end(if(read(0xAA(byte(((}(//(end(if(read(0xAA(byte(}((((

( 29(

9.0(BILL(OF(MATERIALS((

Name%of%Component% Sourcing% Part%#/Code% %Cost%

% % % %

Shepherd%Doorstop%Tip% %Home;Depot% 89105% $4.00%

Dynamixel%MX;64%Kit% Trossen%Robotics% RO;902;0060;000% $299.90%

Futaba%BLS155% Tower%Hobbies% LXWYU7% $129.00%

Oatey%PVC%Flange% Home;Depot% 100139480% $22.33%

Robart%Hinges% A%Main%Hobbies% ROB307% $3.19%

Arduino%Mega% Radio%Shack% 276;127% $51.99%

Mindwave%Mobile% Neurosky%Inc.% 80027;007% $99.99%

BlueSMiRF%Silver% SparkFun%% WRL;10269% $39.95%

1/16%in.%Cable% Home;Depot% 100337583% $60.97%

2%in.%PVC%% Home;Depot% 531137% $6.97%

Compression%Springs% Home;Depot% 202045461% $4.37%

3/4%in.%PVC%Elbow%Joint%X%2% Home;Depot% 187976% $0.92%

Acrylic%Sheet(cut%to%10.5%x%5%in)% Home;Depot% 202038044% $23.48%

3/4%in%ABS%Bracket%Rods% McMaster;Carr% 1839T461% $4.70%

3/4%in.%ABS%Finger%Tubing% McMaster;Carr% 8587K5% $4.07%

6%by%1/4%by%1/4%in.%Aluminum%key%

stock% McMaster;Carr% 99108A100% $4.44%

2%Power%Supplies%for%Driving%Servos%%

Sports%Imports%

LTD.% % $59.98%

Grand&Total& & & $815.55&

((((((((

( 30(

((((10.0(REFERENCES(((1.(Mindwave:(http://www.neurosky.com/Products/MindWaveMobile.aspx((2.(Dynamixel:((http://www.trossenrobotics.com/p/mxD64tDdynamixelDrobotDactuator.aspx((3.(Futaba:(((http://www3.towerhobbies.com/cgiDbin/wti0001p?&I=LXWYU7((4.(BLUESMiRF:((https://www.sparkfun.com/products/10269((((((((