alta arm
3-dof prosthetic gimbal arm for transradial amputees. £68.98 build, fully wearable. solidworks · esp32 · python · pid controlteam of four. i owned the electronics and system integration - wiring five subsystems into one 3d-printed body that an amputee can actually put on.
hardest bits: pid-tuning the gimbal so the wrist stays level mid-motion, balancing the thing on a phone-light frame without it pulling on the residual limb, and laying out power so the emg pickup doesn't get noisy.
real users wore it. their feedback set the brief - comfort first, everything else second. fully working, fully tested, £68.98 in parts.