Robotic Arm Controlling Based on Fingers and Hand Gesture

Abstract

Nowadays, robots are a rapidly developing field. A robot is a mechanical device that can perform physical tasks, using human supervision and control. Several robots have been built to do dangerous work that is impossible done by humans directly. One type of them that is very popular is the robot arm. In this paper, it is proposed controlling robot arms based on finger and hand movements. This research is aimed at describing simple robot arms that must be controlled by human fingers and human hand movements. We have designed a robot arm with a Fuzzy logic method consisting of flexible sensors on the fingers, and human hand movements to control the robot arm's movement system. The movement of the robot arm is controlled by using a flexible sensor, the Arduino microcontroller, which is connected to several servo motors. The control angle of the robot arm, controlled using human hand movements and gyroscopes. All input and output processes on sensors, hand movements, and microcontrollers used are processed by fuzzy logic. From the experimental result, it was found that Fuzzy Logic was successfully implemented on the robot arm to control objects using Flex sensor, and hand gestures.