🤖 Vision-Controlled Robotic Arm

A 3D-printed robotic arm that mimics your movements in real time using just a camera.

🌐 Language Note: This README is written in English. However, the full technical report (PDF) is in Portuguese. All source code files have two versions — an English version and a Portuguese version (files ending in _PT). Both versions are functionally identical; only comments and variable names differ. Use whichever you prefer.

📖 What Is This Project?

This is a humanoid robotic arm that imitates your arm and hand movements in real time. Instead of buttons or joysticks, you simply stand in front of a camera — the system recognizes your gestures and the robot copies them automatically.

The arm has 7 independent degrees of freedom: 5 fingers that open and close, an elbow that goes up and down, and a rotating base that turns left and right. The entire mechanical structure was 3D-printed using the open-source InMoov project as a foundation.

This README is a complete tutorial. If you follow every step, you'll be able to build your own robotic arm — even without much experience in programming or electronics.

🎬 Demo

demo.mp4

📁 Repository Structure

Before starting, it's useful to know where everything is:

HumanoidRoboticArmVision/
│
├── 📄 README.md                          ← You are here! The full tutorial
├── 📄 REQUIREMENTS.txt                   ← Software versions and libraries
├── 📄 LICENSE                            ← MIT License
├── 📄 RIA_G7_Relatorio_Final_Braco_Robotico.pdf  ← Full technical report (Portuguese)
│
├── 📂 code/
│   ├── 📂 Arduino/Final_Ard/
│   │   ├── 📂 MotorDriver/               ← Arduino MEGA firmware (English)
│   │   ├── 📂 MotorDriver_PT/            ← Arduino MEGA firmware (Portuguese)
│   │   └── 📂 Arduino_Uno_CNC_Final/     ← Arduino Uno firmware (stepper motor)
│   │
│   ├── 📂 RPi/Final_RPI/
│   │   ├── ArmController.py              ← Computer vision for Raspberry Pi (English)
│   │   └── ArmController_PT.py           ← Computer vision for Raspberry Pi (Portuguese)
│   │
│   └── 📂 PC/
│       ├── VisionDebugger_PC.py           ← Debug tool for PC (English)
│       ├── VisionDebugger_PC_PT.py        ← Debug tool for PC (Portuguese)
│       ├── hand_landmarker.task           ← MediaPipe model (hand)
│       └── pose_landmarker_lite.task      ← MediaPipe model (body)
│
├── 📂 Codigos_PDFs/                       ← Source code as PDF (report annexes, Portuguese)
│
└── 📂 media/                              ← Project images and GIFs

Note: Each code file exists in two versions — English and Portuguese (_PT suffix). They are functionally identical; only the comments and variable names change.

🧾 Bill of Materials

Here's everything you need to build the arm. Some components can be swapped for equivalents.

Electronics & Computing

Component	Reference	Qty	Notes
Raspberry Pi	Raspberry Pi 5 (8GB)	1	The "brain" — processes real-time AI vision
Camera	Raspberry Pi Camera Module 3	1	Dedicated CSI camera for the RPi
Camera Cable (RPi 5)	22-pin to 15-pin FPC cable	1	Required adapter cable for RPi 5 mini-CSI port
MicroSD Card	32 GB or 64 GB (Class 10/A2)	1	OS (Bookworm) & software drive for Raspberry Pi 5
Active Cooler	Official RPi 5 Active Cooler	1	Recommended heatsink + fan to avoid thermal throttle
Arduino	Arduino MEGA 2560	1	Central motor controller
Arduino	Arduino Uno R3	1	Dedicated to the base stepper motor
Servo Driver	PCA9685 (16-channel, I2C)	1	Controls all servos using just 2 pins
Stepper Driver	A4988	1	Plugs into the CNC Shield (with mini heatsink)
CNC Shield	CNC Shield V3	1	Mounts directly on the Arduino Uno

Motors & Actuators

Component	Reference	Qty	Notes
Servo Motor (elbow)	DS5160 (60 kgf·cm)	1	Needs to be powerful — supports the forearm's weight
Servo Motor (fingers + wrist)	MG996R (9-11 kgf·cm)	6	5 for fingers + 1 for wrist rotation
Stepper Motor (base)	17HS4401S (NEMA 17)	1	Precise rotation of the base (Yaw axis)

Structure & Mechanics

Component	Specification	Qty	Notes
PLA Filament	1.75mm, 1 kg spool	~1 kg	For 3D printing all parts (hand, forearm, custom base, etc.)
Springs	3/16″ x 1-3/4″ (4.8mm x 44.5mm)	5	Finger return mechanism
Tendons	Braided fishing line, 0.8mm, 200LB	5x 50cm	Pull the fingers closed (~2.5m total)
Teflon Tubes	ID 1.5mm x OD 2.5mm	~160cm	Guide the tendons through forearm and fingers
Bearing	Commercial ball bearing	1	Connects fixed base to rotating upper base
Magnets	Neodymium Ø 2.5mm, height 1mm	5	Magnetic fingertip attachments

Power & Connectivity

Component	Specification	Notes
Power Supply 1	7V / 3A DC	For the servo motors (via PCA9685 V+ screw terminal)
Power Supply 2	12-13V / 2A DC	For the stepper motor (via CNC Shield power screw)
RPi 5 Power	Official 27W USB-C (5V/5A)	Powers the Raspberry Pi 5 (and USB-connected boards)
USB Cables	USB-A to USB-B (2 units)	Connects both Arduinos to PC/RPi
DC Jack Adapters	5.5×2.1mm to screw terminal	2 units to wire DC supplies into screw terminals
Dupont Jumper Wires	M-F & M-M ribbon set (40p)	UART serial (RPi ↔ MEGA ↔ Uno) and I2C connections

Consumables & Fasteners

Component	Notes
Assorted screws (M3, M4)	M3 (8–30mm) & M4 screws, nuts, and washers for assembly
Heat shrink tubing	To insulate soldered wire joints
Hookup wire (Cabo unifilar)	Power distribution and common ground connections
Polyimide tape (Kapton)	Heat protection and wire bundling
Soldering flux & solder wire	RMA flux and solder for secure electrical connections
Ecoflex™ 00-10 (RTV Silicone)	Optional — molded grip pads on fingertips

💰 Estimated Project Cost

Below is an estimated cost breakdown for the entire project, based on European market prices (October 2026). Prices are in EUR (€) and reflect typical online retail prices including VAT.

💡 Clones vs. Official: Components marked with ★ have widely used compatible/clone alternatives (e.g., AliExpress, Amazon). Choosing clones for the microcontrollers and drivers can save €50–€80 without sacrificing functionality.

1. Computing & Control Electronics

Component	Ref. / Spec	Qty	Unit Price	Subtotal	Notes
Raspberry Pi	RPi 5 (8 GB)	1	~€85.00 ¹	~€85.00	¹ Official MSRP; street retail €90–€105
Camera Module	RPi Camera Module 3	1	~€28.00	~€28.00	Standard CSI camera (12 MP, autofocus)
Camera Adapter Cable	22-pin mini to 15-pin FPC (RPi 5)	1	~€3.50	~€3.50	Required: RPi 5 uses mini CSI connector
MicroSD Card	32 GB or 64 GB (Class 10 / A2)	1	~€8.00	~€8.00	For Raspberry Pi OS (Bookworm) & software
Active Cooler	Official RPi 5 Active Cooler	1	~€6.00	~€6.00	Prevents thermal throttling during vision
Arduino ★	Arduino MEGA 2560	1	~€20.00 ²	~€20.00	² Quality clone; official Arduino is ~€45
Arduino ★	Arduino Uno R3	1	~€12.00 ²	~€12.00	² Quality clone; official Arduino is ~€28
Servo Driver	PCA9685 (16-ch, I2C)	1	~€5.00	~€5.00	★ Clones available from ~€3.50
Stepper Driver	A4988	1	~€4.00	~€4.00	Includes mini aluminum heatsink
CNC Shield	CNC Shield V3	1	~€5.00	~€5.00	Plugs directly onto Arduino Uno
Computing Subtotal				~€176.50

2. Motors & Actuators

Component	Ref. / Spec	Qty	Unit Price	Subtotal	Notes
Servo Motor (elbow)	DS5160 (60 kgf·cm)	1	~€35.00	~€35.00	High-torque digital metal-gear servo
Servo Motor (fingers + wrist)	MG996R (metal gear)	6	~€8.90 ³	~€53.40	³ Retail unit price; 6-pack clones ~€28
Stepper Motor (base)	17HS4401S (NEMA 17)	1	~€12.00	~€12.00	Standard bipolar stepper for base yaw
Motors Subtotal				~€100.40	~€75.00 with clone 6-pack

3. Power & Connectivity

Component	Specification	Qty	Unit Price	Subtotal	Notes
Power Supply 1	7 V / 3 A DC	1	~€15.00	~€15.00	Powers servos via PCA9685 V+ terminal
Power Supply 2	12 V / 2 A DC	1	~€12.00	~€12.00	Powers stepper via CNC Shield
RPi 5 Power Supply	Official 27 W USB-C (5V/5A)	1	~€14.00	~€14.00	Recommended official supply
USB Cables	USB-A to USB-B (for Arduinos)	2	~€4.00	~€8.00	Connects Uno & MEGA
DC Jack Adapters	5.5×2.1mm female to screw ter.	2	~€1.00	~€2.00	Wire barrel PSUs into screw terminals
Dupont Jumper Wires	40-pin ribbon (M-M & M-F)	1	~€3.50	~€3.50	For UART & I2C communication wires
Power Subtotal				~€54.50

4. Structure, Hardware & Mechanics

Component	Specification	Qty	Unit Price	Subtotal	Notes
PLA Filament	1.75 mm, 1 kg spool	1	~€20.00	~€20.00	~1 kg used for arm, base, and brim/test
Extension Springs	3/16″ × 1-3/4″ (4.8mm × 44.5mm)	5	—	~€7.50 ⁴	⁴ Exact student purchase: €7.49
Tendons (Fishing Line)	Braided 200 LB, 0.8 mm (100m spool)	1	—	~€8.00 ⁴	⁴ Exact student purchase: €8.12
Teflon Tubes (PTFE)	ID 1.5 mm × OD 2.5 mm (~1.6m)	1	—	~€2.00 ⁴	⁴ Exact student purchase: €2.00
Bearing	Deep groove ball bearing (base joint)	1	~€3.00	~€3.00	Commercial hardware for rotating base
Neodymium Magnets	Ø 2.5 mm × 1 mm	5	—	~€4.60 ⁴	⁴ Exact student purchase: €4.60
Screws & Fasteners Kit	Assorted M3 / M4 (screws, nuts, etc.)	1	~€10.00	~€10.00	Hex socket screws, nuts, and washers
Structure Subtotal				~€55.10

5. Consumables & Assembly Supplies

Component	Specification / Ref.	Subtotal	Notes
Heat shrink tubing	Assorted diameters	~€3.50 ⁴	⁴ Exact student purchase: €3.51
Polyimide tape (Kapton)	Ref. 095-0793	~€5.00 ⁴	⁴ Exact student purchase: €5.03
Hookup wire (Cabo unifilar)	Single core copper wire	~€4.50 ⁴	⁴ Exact student purchase: €4.49
Soldering Flux & Solder	RMA Flux (Ref. 096-0207)	~€5.00 ⁴	⁴ Flux €1.99 + solder wire for wire splices
Ecoflex™ 00-10 (optional)	RTV Silicone trial kit	~€35.00 ⁴	⁴ Exact student purchase: €35.00 (fingertip pads)
Consumables Subtotal		~€18.00	~€53.00 including Ecoflex™ 00-10

📊 Total Estimated Cost Comparison

Scenario	Estimated Total
🟢 Budget Build (AliExpress clones, servo multipack, no Ecoflex)	~€330 – €370
🟡 Mid-range Build (mix of official/quality clones, without Ecoflex)	~€400 – €440
🟡 Mid-range Build (with Ecoflex silicone grip pads)	~€435 – €475
🔴 Full Official Build (official Arduinos, retail prices, all accessories + Ecoflex)	~€510 – €570

🎓 Academic / Lab Project Reality (Actual Student Out-of-Pocket Cost): According to the project's official academic report (RIA_G7_Relatorio_Final_Braco_Robotico.pdf, Section 5.5, Table 4), the development team did not have to purchase all items from scratch. Key high-value hardware (Raspberry Pi 5, Camera Module 3, Arduino MEGA, Arduino Uno, CNC Shield V3, DS5160 Servo, and NEMA 17 Stepper) were already available in their university laboratory stock ("emStock").

As a result, the team's actual out-of-pocket expenditure was only ~€73 to €118 (for the springs, teflon tubes, fishing line, magnets, heat shrink, Kapton tape, wires, flux, and silicone). If you are building this in a university or makerspace with shared equipment, your upfront expense will be similarly modest!

📝 General Notes & Practical Advice:

Raspberry Pi 5 Availability: The Raspberry Pi 5 is the largest single expense. Official approved resellers (e.g., Kubii, BerryBase, Pimoroni) sell it near MSRP (~€85–€90), while general marketplaces (Amazon) often list it at €95–€110 depending on stock.

3D Printing: Estimates assume you have access to an FDM printer (e.g., Bambu Lab A1). If outsourcing the 3D printing of all parts, expect an additional commercial printing fee of €40–€90.

Consumable Bulk Packs: Items like fishing line (100m spool), PTFE tubing, screws, and magnets are sold in packs larger than needed for one arm — you will have plenty of leftover materials for future maker projects.

🔧 Step 1: 3D Printing the Parts

The arm's structure is based on the open-source InMoov project. You need to download the STL files and print them.

Where to Download the Models

Part	Link
🖐️ Hand and Forearm	InMoov — Hand and Forearm
🖐️ Hand (I2 version)	InMoov — Hand I2
🏗️ Custom Base	Custom Base STL Files

💡 Note: The base parts are not from InMoov. They were exclusively created by us for this project. You can find the STL files in the Custom_Base_STL folder in this repository.

💡 Tip: The Hand I2 version is the most recent and includes design improvements for the fingers. We recommend using this one.

Print Settings

We used a Bambu Lab A1 printer, but any FDM printer will work with these settings:

Parameter	InMoov Parts	Custom Parts (Base)
Material	PLA	PLA
Nozzle Temperature	220°C	220°C
Bed Temperature	65°C	65°C
Layer Height	0.20mm	0.20mm
Infill Density	30%	25%
Wall Loops	2	2
Speed	Standard (100%)	Standard (100%)

⚠️ Common Issue: Warping

During printing, part edges may lift off the bed (called warping). If this happens:

Enable "Brim" in your slicer — this creates a thin rim around the part that increases bed adhesion.
You don't need to raise the bed temperature or lower the speed. With Brim enabled, standard settings work just fine.

🔩 Step 2: Mechanical Assembly

After printing all the parts, it's time to assemble.

Hand and Forearm Assembly

Follow the official InMoov instructions:

📘 Assembly guide — Hand and Forearm
📘 Assembly guide — Hand I2

Each InMoov page has step-by-step photos and videos explaining how to thread the tendons (fishing line), install the return springs, and route the teflon tubes.

Base Assembly (Custom Part)

The base is not part of InMoov — we designed it ourselves in SolidWorks for this project. It includes:

Main structure — houses the stepper motor, Raspberry Pi, and both Arduinos.
Motor spacers — ensure the motor shaft reaches the rotary coupling.
Arm coupling interface — two pieces (lower base + upper base) that connect the bearing to the arm.
Rotary coupling — transmits motion from the stepper motor to the rotating platform.
Motor mount bracket — secures the motor to the main structure.

💡 Why a custom base? The InMoov project includes a full torso, but we only needed the arm. So we designed a compact base that houses all the electronics and supports the arm's weight without overloading the motor.

Assembly Process	Assembled Arm

⚡ Step 3: Electronics & Wiring

This is the part that requires the most attention. The system uses three processors working together:

┌──────────────┐     UART     ┌──────────────────┐     UART     ┌──────────────┐
│ Raspberry Pi │ ──────────►  │  Arduino MEGA    │ ──────────►  │  Arduino Uno │
│   5 (8GB)    │  GPIO14→RX1  │     2560         │  TX1→RX      │              │
│              │              │                  │              │ + CNC Shield │
│ Vision (AI)  │              │ Central Control  │              │ Stepper Motor│
└──────────────┘              └──────────────────┘              └──────────────┘
                                      │
                                      │ I2C (SDA/SCL)
                                      ▼
                              ┌──────────────────┐
                              │    PCA9685       │
                              │  Servo Driver    │
                              │  (16 channels)   │
                              └──────────────────┘
                                      │
                          ┌───────────┼───────────┐
                          ▼           ▼           ▼
                      MG996R Servos  DS5160 Servo  ...
                      (fingers/wrist) (elbow)

💡 Why three processors instead of one? The Raspberry Pi needs all its processing power for the AI-based vision. If it also had to control motors at the same time, everything would lag and the movements would be jerky. By splitting the tasks, each processor does what it's best at — no delays.

Wiring Table

From (Source)	To (Destination)	Type	Source Pins	Dest. Pins	What It Does
Raspberry Pi 5	Arduino MEGA	UART	GPIO 14 (TX)	Pin 19 (RX1)	Sends vision data
Arduino MEGA	Arduino Uno	UART	Pin 18 (TX1)	Pin 0 (RX)	Sends base commands ('0','1','2')
Arduino MEGA	PCA9685	I2C	SDA (20) / SCL (21)	SDA / SCL	Controls the 7 servo motors
Arduino Uno	CNC Shield V3	Shield	Pins 2, 5, 8	STEP, DIR, EN	Controls the stepper motor
7V/3A Supply	PCA9685	Wire	—	V+ terminal	Powers the servo motors
12V/2A Supply	CNC Shield	Wire	—	12V terminal	Powers the stepper motor

⚠️ IMPORTANT: Connect the GND (ground) of all components together. Without a common ground, serial communication will not work.

The PCA9685 Module — Simplified Servo Control

The PCA9685 is a key component. Without it, you'd need 7 PWM pins from the Arduino to control 7 servos — and the Arduino doesn't have that many stable PWM pins. With the PCA9685:

You control up to 16 servos using just 2 pins (I2C: SDA and SCL).
The motor power comes from an external supply (7V), not from the Arduino. This protects the Arduino from current spikes.

CNC Shield V3 + A4988 — Stepper Motor

The CNC Shield plugs directly into the Arduino Uno and accepts the A4988 driver. The connections are automatic — just plug it in and wire the stepper motor to the X-axis terminals.

💡 Why separate power supplies? Motors draw a lot of current and generate electrical noise. If they shared the same supply as the Arduinos, the Arduinos could randomly restart or behave erratically. Separate supplies = stable system.

For the full interactive wiring diagram, visit the Cirkit Designer project.

💾 Step 4: Software — Arduino (Firmware)

The firmware is the code that runs inside the Arduinos. You need to upload two different programs.

4.1 — Arduino Uno (Base Stepper Motor)

File: Arduino_Uno_CNC_Final.ino

What it does: Receives simple commands ('0', '1', or '2') from the Arduino MEGA and rotates the stepper motor to the correct position (left, center, or right).

How to upload:

Open the Arduino IDE.
Connect the Arduino Uno to your PC via USB.
Go to Tools > Board > Arduino Uno.
Open the Arduino_Uno_CNC_Final.ino file.
Click Upload (→).

4.2 — Arduino MEGA (Servo Control)

File: MotorDriver.ino (English) or MotorDriver_PT.ino (Portuguese)

What it does: Receives a data string from the Raspberry Pi (via UART), parses the values, and sends the correct PWM signals to each servo motor through the PCA9685.

How to upload:

Install the required library:
- In Arduino IDE: Sketch > Include Library > Manage Libraries
- Search for "Adafruit PWM Servo Driver" and install it.
Connect the Arduino MEGA to your PC via USB.
Go to Tools > Board > Arduino Mega 2560.
Open the .ino file and click Upload (→).

How They Communicate

The two Arduinos talk to each other via UART (serial port). The MEGA acts as "Master" and the Uno as "Slave":

The MEGA receives a complete data string from the Raspberry Pi.
It extracts the base value and sends it to the Uno.
The Uno interprets the command and moves the stepper motor.

🧠 Step 5: Software — Raspberry Pi (Computer Vision)

This is the most exciting part — the brain of the system.

File: ArmController.py (English) or ArmController_PT.py (Portuguese)

5.1 — Install Dependencies

In the Raspberry Pi terminal, run:

pip install mediapipe opencv-python pyserial numpy --break-system-packages

The --break-system-packages flag is required on Raspberry Pi OS Bookworm because it's very restrictive with pip packages by default.

5.2 — Physical Connection (UART)

Connect the GPIO 14 (TX) on the Raspberry Pi to Pin 19 (RX1) on the Arduino MEGA with a wire. Also connect GND between the two.

⚠️ Voltage levels: The Raspberry Pi operates at 3.3V and the Arduino at 5V. In practice, the Arduino reads 3.3V as HIGH without issues (RPi TX → Arduino RX). If you need to send data from the Arduino to the RPi, use a voltage divider.

5.3 — Run

python3 ArmController.py

The system will:

Start the camera.
Detect your hand and shoulder using AI (MediaPipe).
Calculate angles and finger states.
Send the commands to the Arduino MEGA via UART.

5.4 — Headless Mode (No Monitor)

The Raspberry Pi can run without a monitor. Use the Raspberry Pi Connect service to access the screen remotely from any browser. We recommend using a 5G mobile hotspot for better speed and lower latency.

🖥️ Step 6: Software — PC (Debugging & Testing)

If you want to test the computer vision without having the robot assembled, you can use the PC script.

File: VisionDebugger_PC.py (English) or VisionDebugger_PC_PT.py (Portuguese)

6.1 — Install Dependencies (PC)

pip install opencv-python mediapipe numpy

6.2 — Required Model Files

The PC script uses a different MediaPipe API that needs model files. These are already included in the code/PC/ folder:

hand_landmarker.task
pose_landmarker_lite.task

These files must be in the same folder as the Python script.

6.3 — Run

python VisionDebugger_PC.py

You'll see a window with your webcam feed and the detected points (hand and body) drawn on top. The calculated values (angles, finger states, etc.) appear as text on screen, making calibration and debugging easy.

💡 Recommendation: Use this tool to understand how the vision works before setting everything up on the Raspberry Pi. It's much easier to experiment and debug on a PC.

🧬 How the Vision Works (Simple Explanation)

The system uses Google's MediaPipe framework, which contains pre-trained AI models that detect 21 hand points and 33 body points in real time.

How does it know if a finger is open or closed?

Instead of measuring the distance between the fingertip and the wrist (which changes if you move closer to or further from the camera), the system calculates the angle at the finger's middle joint:

Large angle (> 160°) → finger extended → Open
Small angle (< 160°) → finger bent → Closed

💡 Why angles instead of distances? Angles don't change with your distance from the camera. If you step back, the points get closer together on screen, but the angle at the joint stays the same. This makes the system much more reliable.

How does it control the base (left/right)?

The system analyzes your elbow angle (using the shoulder, elbow, and wrist points):

Arm folded (angle < 70°) → Base rotates Left
Arm extended (angle > 130°) → Base rotates Right
In between → Base stays at Center

How does it control the elbow (up/down)?

It compares the height of your wrist to your shoulder:

Wrist far below shoulder → Elbow stays down
Wrist at shoulder level → Elbow goes up

How does it control wrist rotation?

Since MediaPipe doesn't provide palm rotation directly, the system compares the relative position of the thumb and the pinky finger. Depending on your arm position (extended or bent), it automatically switches between using the X or Y axis to calculate rotation, and maps the result to 0°–180°.

📡 Communication Protocol

The Raspberry Pi sends a formatted string to the Arduino MEGA every video frame. The structure is:

$<Base>,<Elbow>,<D1>,<D2>,<D3>,<D4>,<D5>,<Rotation>\n

Field	Values	Meaning
Base	0, 1, 2	Left, Center, Right
Elbow	0, 1	Extended, Bent
D1 to D5	0, 1	State of each finger (0=open, 1=closed)
Rotation	0–180	Wrist rotation servo angle

Example:

$1,0,1,1,1,1,1,90\n

Base at center, elbow extended, all fingers closed, wrist rotated to 90°.

The Arduino MEGA uses the $ symbol to know where a message starts and \n to know where it ends. This ensures only complete messages are processed — if a message arrives cut off, it's simply ignored.

🔥 Common Problems & Solutions

Problem	Likely Cause	Solution
Parts lifting off the print bed	Warping	Enable Brim in your slicer
Servos jitter or don't move	Insufficient power	Check that the 7V supply is connected to PCA9685 (V+ terminal, not VCC)
Arduino resets on its own	Servos drawing current from Arduino	Use separate external power supplies; never power servos from the Arduino
Serial communication doesn't work	No shared ground	Connect GND of all devices together
`Serial port not found` on RPi	UART not enabled	Enable UART in `raspi-config` → Interface Options > Serial Port
MediaPipe is slow on RPi	Heavy processing	Verify multithreading is active (CameraStream class in the code)
Hand not detected	Poor lighting	Improve ambient lighting; avoid backlight

📊 Results

Frame rate: 15–20 FPS on the Raspberry Pi 5, sufficient for real-time control.
Latency: Noticeable but low — suitable for telepresence applications.
Finger accuracy: The angle-based method is robust and works regardless of distance to the camera or hand rotation.
Stability: The UART protocol didn't drop any packets during testing — movements were smooth.

system-working.mp4

Current Limitations

Fingers only have two states (open/closed) — no intermediate positions.
Shoulder doesn't include the forward pitch movement — it wasn't implemented.
Camera is not fixed to the robot; it can misalign if the table is bumped.
No haptic feedback — the operator can't feel what the robot touches.

💡 Ideas for Improvement

If you want to take the project further, here are some suggestions:

Proportional finger control: Instead of "open" or "closed", map your real finger angle directly to the servo angle. This way the robot copies the exact position.
Integrated camera mount: Design a part that attaches the camera to the robot's base, eliminating misalignment issues.
More degrees of freedom: Add the shoulder servo (Forward Pitch) so the arm can reach objects in front of it.
Haptic feedback: Install pressure sensors on the fingertips and vibration motors in a glove, so the operator "feels" what the robot touches.
Professional base mounting: Use clamps instead of adhesives to secure the robot to the workbench.

👥 Authors

Name	Contact
Henrique Abrantes	GitHub
Christian Rodrigues	GitHub
Rodrigo Maria	GitHub

Project developed as part of the Robotics and Artificial Intelligence program at Escola Superior Náutica Infante D. Henrique (Portugal).

📚 References & Credits

InMoov — inmoov.fr — Gael Langevin's open-source project for the mechanical design of the hand and forearm.
MediaPipe — Google AI — Computer vision framework for hand and pose detection.
OpenCV — opencv.org — Image processing library.
Raspberry Pi — raspberrypi.com — Raspberry Pi 5 documentation.
Arduino — docs.arduino.cc — Arduino MEGA 2560 documentation.
Cirkit Designer — Interactive wiring diagram — Full schematic.

For the complete technical analysis (torque calculations, mathematical foundations, detailed engineering decisions), see the full report in PDF included in this repository (Portuguese).

📄 License

This project is licensed under the MIT License — you are free to use, modify, and distribute it.

Made with ❤️, PLA, and a lot of patience.

⭐ If this project helped you, leave a star on the repository!

Name		Name	Last commit message	Last commit date
Codigos_PDFs		Codigos_PDFs
Custom_Base_STL		Custom_Base_STL
code		code
media		media
.gitattributes		.gitattributes
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
REQUIREMENTS.txt		REQUIREMENTS.txt
RIA_G7_Relatorio_Final_Braco_Robotico.pdf		RIA_G7_Relatorio_Final_Braco_Robotico.pdf

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