🤖 InMoov AI Hand Robotic Project

📖 Table of Contents

• Overview
• Features
• Components
  • Hardware
  • Software
• Circuit Diagram
• Demonstration
• How to Run
• Future Improvements
• Acknowledgments
• License

🌟 Overview

This project involves building and programming an InMoov robotic hand and forearm controlled by servo motors, utilizing a Raspberry Pi 4. The robotic hand mimics human hand movements captured through a camera using OpenCV. This README provides an overview of the project's progress, functionality, and implementation details.

🎥 Final Product Video

🚧 TODO: Put video here

✨ Features

• 🛠️ Servo Motor Control: The robotic hand is powered by servo motors controlled through the PCA9685 driver.
• 📹 Hand Tracking with OpenCV: A camera tracks human hand movements, and the robotic hand replicates them in real-time.
• 🐍 Python-Based Control System: The entire system is implemented in Python, leveraging libraries like OpenCV, MediaPipe, and Adafruit PCA9685.
• ⚙️ Flexible and Modular Design: The project is designed to be adaptable for future improvements, such as adding voice commands or IoT integration.

🧩 Components

🛒 Hardware

• 🖥️ Raspberry Pi 4: The central processing unit for controlling the robotic hand.
• 🔋 5V 30A 150W Power Supply: Provides power to the PCA9685 driver and five servo motors, ensuring stable and sufficient current for operation.
• 🧩 PCA9685 Driver: Controls up to 16 PWM signals for the servo motors.
• 💪 HK-15298 Servo Motors: Five motors to control the fingers.
• 📷 Raspberry Pi HQ Camera: Used to track hand movements, mine includes with a 6mm IR Lens extended on it

💻 Software

• 🖼️ OpenCV: For hand tracking and gesture recognition.
• 📦 Adafruit PCA9685 Library: For interfacing with the servo motor driver.
• 🐍 Python: The primary programming language for the project.

🔌 Circuit Diagram

📸 Demonstration

🖼️ Images

🛠️ For more images and videos of the project's development and my debugging story with hardware/software 🤯, click here!.

🚀 How to Run

1. 🛠️ Build Robotic Arm:
   • You will need to 3D print the parts for the robotic hand and forearm. Follow the steps in the InMoov Project to assemble the robotic hand.
2. 🖥️ Set up Raspberry Pi:
   • Have an SD card with Raspberry Pi OS installed with SSH enabled (I advise using more than 16GB SD card).
   • Install Python, OpenCV, Adafruit libraries.
   • Enable I2C on the Raspberry Pi.
   • Have a camera for Raspberry Pi.
3. ⚡ Set up hardware:
   • Power the PCA9685 driver with the 5V power supply with a minimum 20A current.
   • Connect the PCA9685 driver to the Raspberry Pi and the servo motors from the robotic arm.
   • Connect the camera to the Raspberry Pi.
4. 🔄 Test your servos:
   • This will help you understand the range of motion of your servos and how to control them so that you can adjust the code accordingly to calibrate the servos.

   python test_servo_motor.py

5. ▶️ Test your camera with hand detection:
   • This will help you understand the outputs of the camera and how to track the hand.

   python test_hand_tracking.py

6. ⏩ Run the main script:
   • Run the main script to start the hand tracking and control the robotic hand.

   python move_robotic_hand.py

🚧 Future Improvements

• 🎛️ Haptic Feedback: Add feedback to gloves and make it control the robotic hand.
• 🌐 IoT Integration: Control the hand remotely via the internet.
• 🎙️ Voice Commands: Integrate speech recognition for combined voice and gesture control. (Maybe even have a rock-paper-scissors game!)

🙌 Acknowledgments

Special thanks to the members of the InMoov Discord Server for their invaluable guidance and support throughout the project. Especially to hairygael, the admin of the server and the creator of the InMoov project.

📜 License

This project is licensed under the MIT License. See the LICENSE file for details.

Let me know if you’d like more changes! 🚀