Prosthetic Hand Control System Based On AVR

Prosthetic hand is an attentive research project in the fields of robotics and biomedical engineering, research on this project is of practical significance to improve the living situation and welfare benefits of amputees. On the base of analyzing the characters of prosthetic hand and the theory of driving stepper motor, this presents the control system of prosthetic hand.Above all, the fundamental knowledge of the ATmega16, a high performance, low power consumption 8 bit AVR MCU of Atmel, was introduced in this paper. And the paper describes the basic structure and peripheral Configuration of ATmegal6, and its advantage compared with others MCU.Secondly, Based on ATmegal6, this paper designed a low-power, small and abundant peripheral control system. And the paper describes the theory of main circuit and driving circuit in details, the interface between AVR and host is also introduced in the paper. RS-232 communication protocol was used in serial communication control system in this paper. ATmegal6 MCU of Atmel Company was used in the host chip. The prosthetic hand executed by the five miniature stepper motor which was installed on the prosthetic hand. The drive of stepper motor was used special drive chip of stepper motor UP-4HB01. Its constant current control, very low power consumer and very high switch efficiency. Two output port control the direction of the stepper motor The reset of the prosthetic hand adopts five pressure switches to check that the fingers whether arrive at the terminal location. So can cut off the current of the corresponding stepper motor immediately, or else, the stepper motor will be destroyed. The reason is that the current of the stepper motor was too big.Finally, this paper introduce some information about program, debug, and down load of software. C language was used in the program, it was easy to transplant and readability. C compiler is ICC AVR. AVR JTAG ICE was a low price MCU emulator, compatible with JTAG ICE of Atmel. Integrated develop environment was AVR Studio.