Control of a four-mecanum wheeled robot with a soft-robotic glove

Abstract

This paper presents a four-wheeled robot, which is controlled with a soft-robotic glove. In the proposed glove an IMU, a FSR and two Flex sensors are used. The FSR sensor is applied as a start key of the robot, which can be used to turn on or turn off the under study robot's motors. Moreover, rate change of in the value of the IMU and Flex sensors are defined as robot's movement command. The proposed movement command is sent to the robot based on wireless connection. In order to send the robot's controlling commands and review the feedback from the ultrasonic sensors, which are set on the robot for obstacle avoidance, a nRF24l01 module is used. According to the experimental tests, the rate of sending and receiving the data based on the aforementioned module is acceptable, because the delay in the send and receive process can be negligible. Finally, the Fuzzy logic is used to the end of improving the performance of the ultrasonic sensors, which are set on the robot for obstacle avoidance. The experimental results corroborate the acceptable performance of the designed Fuzzy logic on obstacle avoidance based on the proposed ultrasonic sensors.