Claw Controller Using BIOAMP EXG PILL

What is BIOAMP EXG PILL?

Upside Down Labs BioAmp EXG Pill is a small (2.54 X 1.00 cm) and elegant Analog Front End (AFE) board for BioPotential signal acquisition that you can use with any 5v Micro Controller Unit (MCU) with an ADC. It is capable of recording publication grade BioPotential signals like ECG, EMG, EOG, and EEG without the inclusion of any dedicated Hardware/Software filter. The v1.0 of BioAmp EXG pill provides even more flexibility with configuration options for Gain, Bandpass, Filter, and Electrodes.

IT'S HARDWARE & SOFTWARE ARE OPEN SOURCE, MORE INFORMATION ABOUT WHICH CAN BE FOUND ON THEIR GITHUB PAGE.

CROWD FUNDING CAMPAIGN FOR BIOAMP EXG PILL IS LIVE NOW ON CROWDSUPPLY: Click here!!

Step 1: Components & Tools Required

COMPONENTS:

Arduino UNO/Nano
SG90 Servo motor
Jumper wires
Breadboard
BIOAMP EXG PILL
3D printed claw

TOOLS:

3D Printer(optional)
Screwdriver

Step 2: 3D Model & Slicing of Claw

The 3D model of claw is designed in such a way that you don't have to add supports. When you will download the stl files and import them into the Slicing software (I'm using CURA), the default orientation of 3 components out of 4 needs to be changed. All the components except connector pin should be flipped by 180 degrees as shown in images.

3D printer & slicer settings:

Profile: 0.12mm
Infill: 20%
Supports: No
Adhesion : Optional(Preferably No because you have to clean a lot in between the gears which will consume a lot of time)
Ironing: optional
Bed temperature: 60degrees
Nozzle temperature: 210 degrees
Glue stick: No
cooling: Yes
Filament: PLA+/PLA
Print speed: 50mm/s

Step 3: Connections

It is so easy to connect BIOAMP EXG PILL with Arduino Nano. Connect VCC, GND and OUT pins of BIOAMP EXG PILL to 5V, GND and A0 pins of Arduino NANO respectively.

And to connect SG90 servo motor with Arduino NANO, connect Black/brown wire of servo motor and yellow wire to GND and pin 9 of Arduino NANO respectively. Connect the Red wire and Black/brown wire to external 5V power supply.

Step 4: CODE

DOWNLOAD the code and open it in Arduino IDE. Select the correct port & board after plugging in your board and hit the upload button.

Once the code is successfully uploaded, I suggest you to remove the power wires of servo motors as soon as possible. You may ask BUT WHY??

It's because when you have uploaded the code you may have noticed that the servo head moves to zero position and to avoid any fluctuation from

its position due to noise signals at BIO+ or BIO- terminals of BIOAMP EXG PILL.

Step 5: Assembly of the Claw

Take the servo holder or base and insert the connector pin as shown in fig.1
Place
the arm 1 from top and secure it on its position with the help of screw
included in with your servo. Carefully apply some force if required to
insert the screw.
Now insert the servo motor in holder or base from bottom and secure it with the help of included screws.
Set
the position of arm 1 as shown in figure and insert the servo arm in
arm 2 of claw, place them on the servo motor carefully without
disturbing the position of arm 1 and screw them in place by applying a
little force if needed.

After securing every part in its place connect back the power wires of servo motor.

Step 6: Placement & Connections of Electrodes

Beore placing the electrodes on your skin it is recommended to clean your skin with the help of cleaning wipes and I would also recommend to

shave off your hair from that part of your arm if possible. If you are not willing to shave off your hairs I suggest you to place the electrodes strictly

as shown.

It's so easy to connect electrodes to BIOAMP EXG PILL. All thanks to crocodile clips. Connect BIO- and BIO+ clips to arm and REF clip to the back of your hand.

Step 7: ENJOY!!

You are all set to have fun with Claw. I would love to see how and what improvements you will make to this project.

Demo Video: Click me!!