MCU-Based Prosthetic Arm with Kinect
Overview of the prosthetic arm system (Source: J. Kim)
The 9S12 microcontroller board we use is Arduino form-factor compatible and was coded in C using Codewarrior. The Kinect was coded in C# using Visual Studio using the latest version of Microsoft Kinect SDK 1.5. In the article, I plan to discuss how the microcontroller was set up to do deterministic control of the motors (including the timer setup and the PID code used), how the control was implemented to compensate for gravitational effects on the arm, and how we interfaced the microcontroller to the PC. This last part will involve a discussion of data logging as well as interfacing with the Kinect.