Circuit:
Download Programming:
#include <Servo.h>
#define THRESHOLD 150 //In order to determine the state of the hand (opened/closed)
#define EMGPIN 3 //Analog pin connected to Muscle Sensor V3 Board
#define LITTLEPIN 2 //Digital pin used by Little servo
#define RINGPIN 3 //Digital pin used by Ring servo
#define MIDDLEPIN 4 //Digital pin used by Middle servo
#define INDEXPIN 5 //Digital pin used by Index servo
#define THUMBPIN 6 //Digital pin used by Thumb servo
//Constants used to open and close the fingers
#define LITTLE 1
#define RING 2
#define MIDDLE 3
#define INDEX 4
#define THUMB 5
Servo servoLittleFinger; // Define servo fingers
Servo servoRingFinger; // Define servo fingers
Servo servoMiddleFinger; // Define servo fingers
Servo servoIndexFinger; // Define servo fingers
Servo servoThumbFinger; // Define servo fingers
int finger;
// Motion routines for handopen and handclose
void openhand(){for(finger = 1; finger < 6; finger++){openFinger(finger);}}
void closehand(){for(finger = 1; finger < 6 ; finger++){closeFinger(finger);}}
// You have to rewrite properly the functions to open and close the fingers
// according of your assembly
// In my case, middle and index fingers are opened when servo is at 170 degrees and the others when servo is at 0 degrees
// I have used Towardpro MG996R servos
void openFinger(int finger){
  if(finger==LITTLE){servoLittleFinger.write(0);} // Little finger
  else if(finger==RING){servoRingFinger.write(170);}// Ring finger
  else if(finger==MIDDLE){servoMiddleFinger.write(170);}// Middle finger
  else if(finger==INDEX){servoIndexFinger.write(170);}// Index finger
  else if(finger==THUMB){servoThumbFinger.write(0);}//Thumb finger
}
void closeFinger(int finger){
  if(finger==LITTLE){servoLittleFinger.write(170);} // Little finger
  else if(finger==RING){servoRingFinger.write(0);}// Ring finger
  else if(finger==MIDDLE){servoMiddleFinger.write(0);}// Middle finger
  else if(finger==INDEX){servoIndexFinger.write(0);}// Index finger
  else if(finger==THUMB){servoThumbFinger.write(170);}//Thumb finger
}
void setup(){
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  Serial.begin(115200); //BAUDRATE set to 115200, remember it to set monitor serial properly (used this BaudRate and "NL&CR" option to visualize the values correctly)
  servoLittleFinger.attach(LITTLEPIN); // Set Little finger servo to digital pin 3
  servoRingFinger.attach(RINGPIN); // Set Ring finger servo to digital pin 5
  servoMiddleFinger.attach(MIDDLEPIN); // Set Middle finger servo to digital pin 6
  servoIndexFinger.attach(INDEXPIN); // Set Index finger servo to digital pin 9
  servoThumbFinger.attach(THUMBPIN); // Set Thumb finger servo to digital pin 10
}//end setup
void loop() {// Nothing to do here, all is done in the interrupt function
  int value = analogRead(EMGPIN); //Sampling analog signal
  if(value>THRESHOLD) //If the value of the sample is greater than THRESHOLD means that the hand has been closed
  {closehand();}
  else //Otherwise the hand is open
  {openhand();}
  Serial.println(value); //You can use serial monitor to set THRESHOLD properly, comparing the values shown when you open and close your hand
}
Demo Video