EXIIITIA (HACKberry by EXTIA) is a project implemented by EXTIA in order to provide our version of EXIII's HACKberry artificial arm as part of ANA's project which is to conceive and optimize an open-source robotic hand for Ana, a 13-year-old girl born with left arm agenesis.

HARDWARE

Here is a list of all the Hardware used for the arm (see DOCUMENTS/EXIIITIA_SCHEMATIC.png to get a better overview and see how everything is connected) :

• 1 Arduino Micro
• 1 Adafruit GEMMA V2
• 1 GEEETECH Voice recognition module
• 1 DC/DC Converter
• 1 RGB LED
• 4 Adafruit NeoPixels
• 1 Force Sensing Resistor
• 2 little servos & 1 big one
• 3 Pushbuttons

CODE

Charge_Indicator

Contains the Arduino code Charge_Indicator.ino uploaded in the GEMMA located in the arm handling the battery level indicator operation.

Exiiitia

Contains the Arduino code Exiiitia.ino which is the original file imported in the arm, with a global C architecture, it is build around the original file provided by HACKberry and sligtly modified to fit our needs with some added specs such as vocal recognition module functions or inactivity check for servos.

Please note that even though this file is functional, it is quite old and might be a little bit tiring and hard to apprehend since everything is stored in this one and only file. See My_Exiiitia and My_Exiiitia_CPP files for clearer options.

LIB

Contains the library files that are used in following My_Exiitia Arduino codes.

ExiiitiaLibV3 :

This library is the one managing the hand behavior for My_Exiiitia_CPP.ino.

ExtiaCounter :

This library is an homemade counters library using Arduino timer 1 since we've been facing some issues with interferences because of the use of LEDs, servos, softwareSerial etc...

My_Exiiitia

Contains a personal version of the software used for the arm's behavior, this Arduino code My_Exiiitia.ino is an extension of Exiitia.ino using homemade libraries managing counters using Arduino timers.

My_Exiiitia_CPP

Contains the Arduino code My_Exiiitia_CPP.ino which is basically also an homemade one with a C++ architecture.

DOCUMENTS

EXIIITIA_SCHEMATIC.png

This is the schematic with all the hardware that is contained into the prototype that we made.

Guide_GEMMA_EN.pdf & Guide_GEMMA_FR.pdf

These documents are "how to" manuals for GEMMA's use respectively in English and French.

Guide_Module_GEEETECH_EN.pdf & Guide_Module_GEEETECH_FR.pdf

This is a "how to" manual to configure and use the GEEETECH vocal recognition module that we implemented in our prototype.

HOW TO USE

GEMMA

• Since it only manages what is related to the battery charge state, you only have to upload the code Charge_Indicator.ino inside.

ARDUINO

• If you plan to use the original file that has been created for the prototype, upload the code Exiiitia.ino to the microcontroller.
• When it comes to the use of My_Exiiitia.ino, this code is working using the homemade counters' library ExtiaCounter, then, in order to work properly you need to put the entire ExtiaCounter folder inside your Arduino libraries folder (it might be located at .\Program Files\Arduino\libraries).
• Finally, My_Exiiitia_CPP.ino needs a further library to work, which is ExiiitiaLibV3, therefore you must place both this one and the previous one in the Arduino libraries folder.

CONTACT

Arnaud LAURENT Responsable de mécénat de compétences alaurent@extia.fr

Bastien GABRIELLI Ingénieur stagiaire Électronique/Numérique bgabrielli@extia.fr