Design and Implementation of a Wireless Robotic Human Hand Motion-Controlled Using Arduino

摘要

This work involves the design and implementation of a robotic hand controlled wirelessly to emulate human hand fingers motion. The design includes two circuits: transmitting and receiving. A glove and flex sensors are placed at the transmitting side while a robotic hand is sitting at the receiving side. Motion control signals are being exchanged wirelessly between the transmitting and receiving circuits via Bluetooth modules. Also, Arduino cards are implemented on both sides to control the servomotor of each robot finger. The robotic hand consists of five fingers designed using three-dimension 3D printer. Each finger has three degree of freedom (3-DOF) and it is controlled by one servomotor for actuating with angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure is derived mathematically for 3-DOF robot finger, and the third order polynomial trajectory motion is simulated to test the robot kinematics by using MATLAB Simulink. The physical tests show that the hand motion serves concisely for catching objects with a maximum distance range for connection of 37 meters. Also, the simulation results show exact inverse kinematic using the equations derived from the forward kinematic. This robotic hand can be applied in the areas where the intervention of humans may cause danger on their health due to chemical, biological and radiological nature.