Applied and Computational Mathematics
Volume 6, Issue 4, August 2017, Pages: 171-176
Received: Mar. 7, 2017;
Accepted: May 24, 2017;
Published: Jul. 12, 2017
Views 2178 Downloads 131
Waseem Afzal, Department of Electrical Engineering, Comsat Institute of Information Technology, Lahore, Pakistan
Shamas Iqbal, Department of Electrical Engineering, Institute of Space Technology, Islamabad, Pakistan
Zanib Tahira, Department of Electrical Engineering, Comsat Institute of Information Technology, Lahore, Pakistan
Mehtab Ejaz Qureshi, Department of Electrical Engineering, Comsat Institute of Information Technology, Lahore, Pakistan
The design and implementation of a gesture control robotic arm using flex sensor is proposed. The robotic arm is designed in such a way that it consists of four movable fingers, each with three linkages, an opposing thumb, a rotating wrist and an elbow. The robotic arm is made to imitate the human hand movements using a hand glove. The hand glove consists 5 flex sensor for controlling the finger movements and an Accelerometer for the wrist and elbow movements. The actuators used for the robotic arm are servo motors. The finger movements are controlled using cables that act like the tendons of human arm. The robotic arm is controlled from a distant location using a wireless module. A prototype of the robotic arm was constructed and tested for various hand movements.
Mehtab Ejaz Qureshi,
Gesture Control Robotic Arm Using Flex Sensor, Applied and Computational Mathematics.
Vol. 6, No. 4,
2017, pp. 171-176.
M. K. Habib, Mine Clearance Techniques and Technologies for Effective Humanitarian Demining, International Journal of Min Action, vol.6, no.1, 2002.
M. K. Habib, and Y. Baudoin, Robot-Assisted Risky Intervention, Search, Rescue and Environmental Surveillance, Journal of Advanced Robotic Systems, vol. 7, no.1, pp. 1-8, 2010.
KM. Z. Hussain and S. Karmorker. International conference on electrical engineering an information and communication technology (ICEEICT), IEEE (2014).
A. Purohit, M. Kakatkar A 9-Dof Robotic Hand Teleoperation System Us- ing Haptic Technology in International Conference on Pervasive Com- puting (ICPC), 2015.
L. Wang, Z. Deng, L. Zhang and Q. Meng, Dynamic Analysis of Reha- bilitative Arm Robot International Conference on Mechatronics and Automation, 2006.
J. K. Paik, B. Shin, Y. Bang, Y. Shim, Development of an Anthropomorphic Robotic Arm and Hand for Interactive Humanoids Science Direct, Journal of Bionic Engineering, (2014).
S. Klug, B. Mohl, O. v .Stryk and O. Barth, Design and application of a 3DOF Bionic Robot Arm, Proc. AMAM, 2005.
T. Takaki, T. Omata, High-Performance anthropomorphic Robot Hand With Grasping-Force-Magnification Mechanism IEEE Transactions on- Mechatronics, 2011.
J. SC, I. EK, K. DF, J. RT, B. KB Design of the Utah/MIT dexterous hand. In: Proceedings of the IEEE International Con- ference on Robotics and Automation. Spain; April 2005.
Md. A. Rahman, A. H. Khan, Dr. T. Ahmed, Md. M. Sajjad Design, Analysis and Implementation of a Robotic Arm- The Animator American Journal of Engineering Research (AJER), 2013.
A. R. Krishna, G. S. Bala, A. S. C. S. Sastry, B. B. P. Sarma, G. S. Alla, Design And Implementation Of A Robotic Arm Based On Haptic Technology International Journal of Engineering Research and Applications (IJERA) May-Jun 2012.
V. J. Gohil1, Dr. S. D. Bhagwat, A. P. Raut, P. R. Nirmal Robotics Arm Con- trol Using Haptic Technology International Journal of Latest Research in Science and Technology, March - April (2013).
A. Che Soh, S. A. Ahmad, A. J. Ishak and K. N. A. Latif development of an adjustable gripper for robotic picking and placing operation international journal on smart sensing and intelligent systems, vol. 5, no. 4, december 2012.
S. A. Khajone, Dr. S. W. Mohod, V. M. Harne Implementation of a Wireless Gesture Controlled Robotic Arm International Journal of Innovative Research in Computer and Communication Engineering, January 2015.
V.Bhojak, G. K. Solanki, S. Daultani Gesture Controlled Mobile Robotic Arm Using Accelerometer International Journal of Innovative Research in Science, Engineering and Technology, June 2015.
S. Jena, S. K. Nayak, S. K. Sahoo, S. R. Sahoo, S. Dash, S. K. Sahoo Interna- tional Journal Of Engineering Sciences & Research Technology April, 2015.
A. R. Al-Ali, M. A. Jarrah, R. Dhaouadi, Microcontroller-operated an- thropomorphic manipulator with haptic feedback Robotics and Computer- Integrated Manufacturing 23 6370 (2007).
D. K. Barbole, Dr. D. V. Jadhav Hand Gesture Recognition Using Flex Sensors International Engineering Research Journal (IERJ) Volume 1 Issue 8 Page 624-628, ISSN 2395-1621, 2015.
N. Miller, O. C. Jenkins, M. Kallmann, M. J. MatariC Motion Capture From Inertial Sensing For Untethered Humanoid Teleoperation International Journal of Humanoid Robotics, June 24, 2004.
R. Agrawal, K. Kabiraj, R. Singh Modeling a Controller for an Articulated Robotic Arm Intelligent Control and Automation, 3, 207-210, 2012.
S. R. Nair Design of a Robotic Arm for Picking and Placing an Object Controlled Using LABView International Journal of Scientific and Research Publications, Volume 2, Issue 5, May 2012.
R. K. Megalingam, T. P. kumar DTMF based Robotic Arm Design and Control for Robotic Coconut Tree Climber IEEE International Conference on Computer, Communication and Control (IC4-2015).
S. Smith. Types of Robots [Online]. Available FTP: http://prime.jsc.nasa.gov/ROV/types.html. (2013).
“The History and Benefits of Industrial Robots”.Used-Robots.com. Re- trieved 2012-03-15.
B. Malone, G. Devol: A Life Devoted to Invention, and Robots [Online]. Available FTP: http://spectrum.ieee.org/automaton/robotics/industrial- robots/george-devol-a-life-devoted-to-invention-and-robots.(26Sep 2011).
R. Padzensky GESTURE CONTROL [Online]. Available FTP: http://augmera.com/?p=546. (18 Apr 2015).
A. I. Bhuyan, T. C. Mallick Gyro-accelerometer based control of a robotic Arm using AVR microcontroller Strategic Technology (IFOST), 2014 9th International Forum pages 409 413, 21-23 Oct. 2014.
M. naveau, m.kudruss, o.stasse, c.kirches, k.mombaur, and p.soueres. A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control. IEEE ROBOTICS AND AUTOMATION LETTERS, 2(2377- 3766), 10 - 17. 2016.
D. vershok, R. sadykhov, A. selikhanovich, K. schilling, H.roth. The Sys- temof Video-data Processing for the Autonomous Control of Mobile Robot. The System of Video-data Processing for the Autonomous Control of Mobile Robot, 2(0-7803-8138-6), 241 - 243. September 2003.
Flex Sensor [Online]. Available https://cdn.sparkfun.com/datasheets/Sensors/ForceFlex/FLEX%20SENSOR%20DATA%20SHEET%202014.pdf.
M. A. doshi, s. j. parekh, d. bhowmick. Wireless Robotic Hand Using Flex Sensors. International Journal of Scientific & Engineering Research, 6(3), 1471-1475, March-2015.
T. H. Soon, L. K. Hong “VR TELEROBOT SYSTEM” Proceedings of the 5th International Conference on Manufacturing Technology Beijing, 1st to 3rd November 1999.
W. Shen, Y. Shen “Trajectory Planning for Tele-Robotic Skull Drill Sys- tem” IEEE International Conference on Information Acquisition, 20-23 Aug. 2006.
Y. Jeong, Y. Lee “A 7 DOF wearable robotic arm using pneumatic actuators” Proceedings of the 32nd ISR (International Symposium on Robotics), 19-21 April 2001.
J. Lin “Two-time scale fuzzy logic controller of flexible link robot arm” Fuzzy Systems, 2002. FUZZ-IEEE’02. Proceedings of the 2002 IEEE International Conference on 12-17 May 2002.
G. S. Gupta, S. C. Mukhopadhyay, M. Finnie “WiFi-based Control of a Robotic Arm with Remote Vision” nstrumentation and Measurement Technology Conference, 2009. I2MTC ’09. IEEE 5-7 May 2009.
C. Castejn, G. Carbone, J. C. G. Prada, M. Ceccarelli “Multi-Objective Opti- mization of a Robotic Arm for Service Tasks” Strojniki vestnik - Journal of Mechanical Engineering 56 (2010) 5, 316-329.
K. Premkumar, K. G. J. Nigel “Smart phone based robotic arm control us- ing raspberry pi, android and Wi-F” Innovations in Information, Embedded and Communication Systems (ICIIECS), 2015 International Conference on 19-20 March 2015.
O. Olwan, A. Matan; M. Abdullah; J. Abu-Khalaf “The Design and Anal- ysis of a Six-Degree of Freedom Robotic Arm” Mechatronics and its Applications (ISMA), 2015 10th International Symposium on 8-10 Dec. 2015.
R. Szab, A. Gontean “Remotely Commanding the Lynxmotion AL5 Type Robotic Arms” Telecommunications Forum (TELFOR), 21st, 26-28 Nov. 2013.
R. K. Megalingam, T. Pathmakumar; T. Venugopal; G. Maruthiyodan; A. Philip “DTMF based Robotic Arm Design and Control for Robotic Coconut Tree Climber” Computer, Communication and Control (IC4), 2015 International Conference on 10-12 Sept. 2015.
B. Varghese, B. Thilagavathi “Design and Wireless Control of Anthro- pomorphic Robotic Arm” Innovations in Information, Embedded and Communication Systems (ICIIECS), 2015 International Conference on 19-20 March 2015.
A. K. SANCHETI “Gesture Actuated Robotic Arm” International Journal of Scientific and Research Publications, Volume 2, Issue 12, December 2012.
A. Elfasakhany, E. Yanez, K. Baylon, R. algado “Design and Development of a Competitive Low-Cost Robot” Modern Mechanical Engineering, 2011, 1, 47-55 doi:10.4236/mme.2011.12007 Published Online November2011.
Mr. C. Chandra Mouli, Ms. P .Jyothi, Prof. K. Nagabhushan Raju, Prof. C. Nagaraja “Design of a Robotic Arm for Picking and Placing an Object Controlled Using LABView” IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-ISSN: 2278-1676,p-ISSN: 2320-3331, Volume 6, Issue 5, PP 80-84, Jul. - Aug. 2013.
G. S. Gupta, S. C. Mukhopadhyay; M. Finnie “WiFi-based Control of a Robotic Arm with Remote Vision” Instrumentation and Measurement Technology Conference, 2009. I2MTC ’09. IEEE 5-7 May 2009.
M. Quigley, A. Asbeck; A. Ng “A Low-cost Compliant 7-DOF Robotic Manipulator” Robotics and Automation (ICRA), 2011 IEEE International Conference on 9-13 May 2011.
A. M. Agas, A. A. Daitol; U. B. Shah; L. J. Fraser; K. M. Abbruzzese; K. K. Karunakaran; R. Foulds “3-DOF Admittance Control Robotic Arm with a 3D Virtual Game for Facilitated Training of the Hemiparetic Hand” 2015 41st Annual Northeast Biomedical Engineering Conference (NEBEC) 17-19 April 2015.