Hand movement controlled robotic hand using feedback control

Project Title

Hand movement controlled robotic hand using feedback control

Project Area of Specialization RoboticsProject Summary

This is a humanoid robotic hand and it copies the hand gesture. In this project we have sensor glove which checks our hand positions and it has wireless control. It has linear degree of freedom. Arduino UNO are used as microcontroller. It is a close loop control system.

Project Objectives

To improve the human machine interface using close loop control system in order to provide safety to human performing hazardous job.

Project Implementation Method

This project based on the hand movement control robot using input transducer( Flex sensor) which sense the motion of human hand. Flex sensor is the input transducer whose resistance change with bending of fingers and a voltage signal generate which is read by master arduino. Master arduino will map the finger angels as per the input signal by the flex sensor and encode them to transmit them through the transmitter module. The signal receive at the receiver module is given to the slave arduino which will decode the received angle and then write to the servo motors. The servo motors changes the angles of robotic hand fingers according to the position of human fingers like if our fingers is at zero degree then the fingers of robotic hand is also at zero degree. The feedback transducer are attached with the robotic hand these transducer generate a feedback signal. The feedback signal is given to the slave arduino, which then map it into the robotic hand angles. The slave arduino compares both the hand and robot angles and calculate the errors and corrects the servo angles.

Benefits of the Project

It is a close loop system and it is more accurate as compare to the open loop system.

It is wireless system and it is long range.

It is light and durable.

The system can be trained with the hand of any user.

Technical Details of Final Deliverable

Flex Sensor: 

-Flat Resistance: 25kohm

-Bending Resistance: 145kohm

-Tolerance: +-30%

Servo Motors (MG90):

Power Supply: 12V, 5A

Buck Converter LM-2596: 12V-5V DC-DC

Arduino UNO:

HC-11 module (TX,RX)

Final Deliverable of the Project HW/SW integrated systemType of Industry Education Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	33870
robotic hand	Equipment	1	12500	12500
flex sensors	Equipment	6	1300	7800
servo motor Mg-90s	Equipment	6	370	2220
arduino Uno	Equipment	2	500	1000
HC-11 RF module	Equipment	2	600	1200
power supply	Equipment	1	1000	1000
hw-411 buck converter	Equipment	1	250	250
servo motor Sg-90s	Miscellaneous	10	300	3000
jumper wires	Miscellaneous	100	3	300
Bread boards	Miscellaneous	2	150	300
Robotic hand service	Miscellaneous	1	300	300
arduino Uno	Miscellaneous	1	500	500
Wrist assembly	Equipment	1	3500	3500