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+---
+title: "EMG Controlled Prosthetic Arm"
+date: 2024 Dec
+location: New York, US
+---
+
+### Overview
+This project demonstrates an innovative way to control a robotic hand using an EMG (Electromyography) sensor. By detecting muscle activity, the system interprets the intensity of muscle flexing and translates it into real-time movements of a robotic hand. The system is designed to be adaptive, responsive, and smooth, making it an excellent demonstration of how biomedical signals can interact with robotics.
+
+### Key Features
+**Muscle-Controlled Movements:**
+The robotic hand responds to muscle activity levels detected by the EMG sensor.
+Users can control the hand's fingers by flexing their muscles.
+
+**Dynamic Thresholding:**
+The system adapts to different users by calibrating baseline muscle activity during a relaxation phase.
+Thresholds are dynamically adjusted based on the user's unique muscle signals.
+
+**Three States of Control:**
+Relaxation: All fingers return to their neutral position.
+Mild Flex: Some fingers partially close.
+Full Flex: All fingers fully close.
+
+**Signal Smoothing:**
+A low-pass filter is implemented to reduce noise in the EMG signal, ensuring accurate and stable servo movements.
+
+**Real-Time Responsiveness:**
+The system processes EMG signals continuously, enabling smooth and responsive finger movements.
+
+## How It Works
+
+**Calibration Phase:**
+At startup, the system enters a 5-second calibration phase where the user is instructed to relax their muscles.
+During this phase, the baseline EMG value (representing relaxed muscle activity) is calculated.
+
+**Signal Processing:**
+The EMG sensor reads electrical signals from the user's muscles.
+A low-pass filter smooths the signal to remove noise and fluctuations.
+
+**Threshold-Based Decision Making:**
+The smoothed EMG signal is compared against two dynamic thresholds:
+Low Threshold: Detects mild flexing.
+High Threshold: Detects strong flexing.
+Based on these comparisons, the system determines whether to relax, partially flex, or fully flex the fingers.
+
+**Servo Control:**
+Servo motors control each finger's movement based on the detected state:
+Relaxation → Fingers return to neutral positions.
+Mild Flex → Some fingers partially close.
+Full Flex → All fingers fully close.
+
+## Technical Details
+
+**Hardware Components**
+MyoWare EMG Sensor: Measures electrical activity from muscles and outputs an analog signal proportional to muscle contractions.
+Servo Motors: Control the movement of each robotic finger (pinky, ring, middle, index, thumb) by responding to processed EMG signals.
+Arduino Microcontroller: Processes the EMG signals, applies filtering and thresholding, and sends commands to the servo motors for precise control.
+
+**Software Features**
+Low-Pass Filter: Smooths noisy EMG signals for better accuracy and stability during servo control.
+Dynamic Thresholding: Adapts thresholds based on user-specific baseline muscle activity, enabling personalized control of the robotic hand.
+Servo Library: Provides functions for controlling servo motors with precision and ease using Arduino.
+Programming Language: The system is programmed in C++ using the Arduino IDE for real-time signal processing and motor control.