GRIP-5
FlagshipWorking PrototypeRoboticsEmbeddedAI Experiment
Verified summary
Gesture-responsive prosthetic-hand prototype mapping hand-tracking landmarks to five servo-driven finger states.
Problem or experiment question
Can webcam hand tracking drive a five-finger hardware prototype with stable discrete finger states?
What was actually built
- Webcam frame input with MediaPipe hand tracking and 21 landmarks
- Joint-angle calculation mapped to finger openness with EMA smoothing
- Quantization into a five-character discrete state format
- Serial or UDP transport to Arduino firmware
- Five-servo proportional movement and rock-paper-scissors demo behavior
Architecture or workflow
- Python capture and gesture logic on a host machine
- Transport layer sends quantized finger states to MCU
- Arduino parses packets and drives five servos
Important technical decisions
- Discrete five-character states simplify MCU parsing over continuous angles
- Exponential moving average reduces jitter before quantization
- UDP/serial dual path supports lab prototyping flexibility
Public status
Working PrototypeImplementedExperimental
Python
MediaPipe
Arduino
Servo control
Serial/UDP