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Remote-Control Excavator

Engineered and Built by Erik Sarkinen
Android Application to Control the Remote-Control Excavator
  • The App connects to the top circuit board wirelessly via Bluetooth.
  • The software controls twelve motor functions with four virtual joysticks.
  • The software has programmable delay to adjust the responsiveness of the robotic arm.
Servo Motor Circuit Board and Batteries. A Microchip dsPIC33 microcontroller and a Microchip BM78 Bluetooth module was used.
Stepper Motor Circuit Board. Two 433 MHz RF transceivers were used for inter-circuit board communication.
CAD Assembly
CAD Gear Design
Over 200 hours of print time on my 3D printer to print the excavator parts

Robotic Arm

Visual servoing with a homemade robotic arm designed, engineered, and built by Erik Sarkinen. The arm finds the cup with a camera, so the arm operates automatically. The camera feed is shown on the monitor.
Custom Android tablet application for initiating the visual servoing or controlling the robotic arm. The app communicates with the Raspberry Pi, the Linux computer on the robot, via Bluetooth.
Custom printed circuit board I designed in Altium Designer and had printed overseas. Two dsPIC33E motor controller microcontrollers were used.
Raspberry Pi camera stream. The white circle is the cup being grasped.
Stepper motor for rotation and custom 3D printed gears I made.
FEETECH servo motors I used. The green wire is potentiometer feedback giving the angle of the motor shaft.
Raspberry PI (64-bit Linux mini-computer) used to control the arm and do the video processing.
CAD model of the robotic arm. Every part was modeled and printed by me except the motors.
Mechanical claw CAD model designed and 3D printed by me.

Surface Electromyography Instrument

Engineered by Erik Sarkinen
sEMG Case and Electrode Leads
sEMG Instrument Circuit Board
Android Application with Muscle Resting
Android App with Muscle Flexing. The Top Half is the Muscle Voltage in Millivolts. The Bottom Half is the Power Spectral Density (PSD) with Units of Hertz.

Remote-Control Bulldozer

RC Bulldozer Created by Erik Sarkinen
PCB and Stepper Motors
Android Software Application Virtual Joystick to Control the Stepper Motors
CAD Model of Bulldozer