**2.9 Control system**

The control system was implemented using the prosthetic hand, Arduino UNO microcontroller, laptop computer, and Myo armband. The Arduino has 14 pins that can be configured as input or output which have the advantage of being able to connect any device that is suitable for transmitting or receiving digital signals of 0 and 5 V. It also has analog inputs and outputs. By means of analog inputs, sensor data can be achieved in the form of continuous variations of a voltage. The analog outputs can normally be used to send control signals in the form of pulse width modulation (PWM) signals.

Labview software was used as a graphical development environment platform, ideal for designing systems with a friendly programming language. It allows to structure and perfect professional works of any system. Communication is made through the serial port between the Arduino and Labview. Through the Arduino UNO card using PWMs, the system controls the DC motors to achieve the different positions and grasps previously established.

Tests were carried out for each one of the actuators to be manipulated and it was verified that the position of each finger for the different types of grasps already proposed to be carried out were those established. For the handling of the robotic hand, a checking was made in the LabVIEW interface. To ensure that the time and angles of the servomotors are correct, tests and measurements were carried out to analyze the inverse and direct kinematics of the prototype, which are analyzed in specific details in the following section.
