TURFPTAx
Published © GPL3+

Forearm Muscle Based Finger Motion Tracker

Open source finger movement tracker using open hardware, machine learning, and a labeling system. Prosthetic sensor for prosthetic hands.

AdvancedShowcase (no instructions)Over 1 day291
Forearm Muscle Based Finger Motion Tracker

Things used in this project

Hardware components

ESP32-S2
×1
Hall Effect Sensor
Hall Effect Sensor
×12
clevis pin
×12
5mm Magnet
×12

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
3D Printer (generic)
3D Printer (generic)

Story

Read more

Schematics

OM12 5.3 Custom PCB Diagram

How to use the 5.3 custom PCBs

PCB wiring Diagram

To wire the 5.3 Open Muscle PCB

Pinout Wiring

Schematic

KiCad

DSN file

DSN file

Code

om_capture.py

Python
Main UDP server to receive the sensor data from Open Muscle & LASK
import socket
import numpy as np
import pygame as pg
import csv
import sys
import os
import time
import ast

lpps = 0
bpps = 0

last_lask_packet = {'id': 'OM-LASK4', 'time': (2023, 1, 8, 22, 37, 28, 6, 8), 'data': [3, 1, 4, 5], 'ticks': 53249, 'rec_time': 0.0001}
last_band_packet = {'id': 'OM-Band12', 'time': (2023, 1, 8, 22, 37, 28, 6, 8), 'data': [5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000, 5000], 'ticks': 2, 'rec_time': 0.0001}


max_samp = 6500
min_samp = 4000

def get_ip_address():
    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    s.connect(("8.8.8.8",80))
    return s.getsockname()[0]

#Get "IP address of Server" and also the "port number" from arg 1 and 2
if len(sys.argv) == 3:
    ip = sys.argv[1]
    port = int(sys.argv[2])
else:
    print('run like: python UDPserver.py <arg1: server ip> <arg2: UDPport>')
    local_ip = get_ip_address()
    port = 3145
    print('using {0} and 3145 '.format(local_ip))


### Create UDP socket
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
server_address = (local_ip, port)
s.bind(server_address)
print(f'Server Address:{local_ip} Port:{port}')
print('Do Ctrl+c to exti the program !!')


### PYGAME SETUP
pg.font.init()
my_font = pg.font.SysFont('Courier New', 24)

#pygame width height etc
pg_width = 800
pg_height = 800

#pygame init and screen declaration
pg.init()
clock = pg.time.Clock()
screen = pg.display.set_mode((pg_width,pg_height))

text_surface = my_font.render('OpenMuscle', False, (127,127,127))
screen.blit(text_surface, (200,200))
pg.display.update()

first_run = True
adc_dis = 65
pop = 4
buff = 25

def draw_signal(x0,y0,x,y,position,color,screen=screen):
    height = 40
    global max_samp
    global min_samp
    #if y0 < max_samp and y0 >= min_samp+150 and y0 < max_samp - 100:
    #    max_samp -= 100
    #elif y0 > max_samp:
    #    max_samp = y0
    #if y0 > min_samp and y0 <= max_samp+150 and y0 > min_samp +100:
    #    min_samp += 100
    # Row Multiply by position # * pixel height
    y0 = int(((y0-min_samp)/(max_samp-min_samp))*40)+(position*40)
    y = int(((y-min_samp)/(max_samp-min_samp))*40)+(position*40)
    # Left Padding
    x += 50
    x0 += 50
    #if y < max_samp and y >= min_samp+150 and y < max_samp - 100:
    #    max_samp -= 100
    #elif y > max_samp:
    #    max_samp = y
    #if y > min_samp and y <= max_samp+150 and y > min_samp +100:
    #    min_samp += 100   
    pg.draw.line(screen,color,(x0,y0),(x,y),width=1)

def draw_text(l,b,screen=screen):
    position = 2
    surfaces = []
    for i,y in enumerate(l['data']):
        r = pg.Rect(2,40*position,255,24)
        screen.fill((0,0,0), r)
        surface = my_font.render('LASK: '+str(position) +': '+str(y),False,(127,255,255))
        screen.blit(surface,(0,40*position))
        position += 1
    for i,y in enumerate(b['data']):
        r = pg.Rect(2,40*position,255,24)
        screen.fill((0,0,0), r)
        surface = my_font.render('BAND: '+str(position) +': '+str(y),False,(127,127,255))
        screen.blit(surface,(0,40*position))
        position += 1
    

def draw_lask(packet):
    global count
    global lpps
    global last_lask_packet
    position = 2
    if packet['rec_time']-last_lask_packet['rec_time']>.01:
        lpps = packet['rec_time']-last_lask_packet['rec_time']
        lpps = int(lpps*100)/100
        for i,y in enumerate(last_lask_packet['data']):
            draw_signal(count-2,y,count,packet['data'][i],position,(200,255,255))
            position += 1
        last_lask_packet = packet
    
    

def draw_band(packet):
    global count
    global bpps
    global last_band_packet
    position = 6
    if packet['rec_time']-last_band_packet['rec_time']>.01:
        bpps = packet['rec_time']-last_band_packet['rec_time']
        bpps = int(bpps*100)/100
        for i,y in enumerate(last_band_packet['data']):
            draw_signal(count-2,y,count,packet['data'][i],position,(200,200,255))
            position += 1
        last_band_packet = packet

def text_gui(screen=screen):
    global lpps
    global bpps
    global max_samp
    global min_samp
    surface = my_font.render('OpenMuscle Collect Data',False,(255,255,255))
    screen.blit(surface,(0,0))
    r = pg.Rect(2,40,800,24)
    screen.fill((0,0,0), r)
    surface = my_font.render(f'LASK ldp:{lpps} Band ldp:{bpps} SampMAX:{max_samp} SampMIN:{min_samp}',False,(255,200,200))
    screen.blit(surface,(0,40))
    
### File Save Setup
filenumber = len(os.listdir('TrainingData/CSV/'))
file = open(f'TrainingData/CSV/training_file{filenumber}.txt','w')

# Time Axis Counters
t0 = time.time()
delta_time = 0

# Connection Variables
lask_con = {'active':False,'seq':0}
band_con = {'active':False,'seq':0}

def get_packet(s=s,lask=lask_con,band=band_con):
    packet = False
    s.settimeout(1)
    try:
        data, address = s.recvfrom(4096)
        text = data.decode('utf-8')
        packet = ast.literal_eval(text)
    except:
        pass
    return(packet)

######## Main Loop ########
count = 0
done = False
while not done:
    for event in pg.event.get():
        if event.type == pg.QUIT:
            file.close()
            done = True
    pack = get_packet(s)
    if pack:
        pack['rec_time'] = time.time()-t0
        file.write(str(pack) + '\n')
        # Draw Screen
        #
        if 'OM-Band' in pack['id']:
            draw_band(pack)
            device = 'OpenMuscle Band'
        elif 'OM-LASK' in pack['id']:
            draw_lask(pack)
            device = 'OpenMuscle LASK'
    pg.display.update()
    count += 1
    if count > 750:
        screen.fill(0)
        count = 0
    if not count % 100:
        draw_text(last_lask_packet,last_band_packet)
        text_gui()
    # End Draw Screen
    
    
    
file.close()

Open Muscle

Server code to receive sensors data, micropython code for the sensor systems, and machine learning code to train and predict live.

Credits

TURFPTAx
1 project • 3 followers

Comments

Related channels and tags
  • Health & Medical Devices
  • Health & Medical Devices
  • Robotics
  • Robotics