Developing an electronic glove based on fuzzy logic for mobile robot control

摘要

An electronic glove is a sensor-equipped glove for detecting changes in the motion or the bending of a finger. The function of an electronic glove can replace the function of a remote control, especially for people with disabilities. In this study, we designed and realized a glove equipped with a flex sensor on each finger to detect the bending of the finger and used a mobile robot as the plant of the electronic glove. The system works by detecting finger-bending in the right hand and processing it into the commands stop, forward, backward, forward left and forward right. The flex sensor resistance value caused by the finger-bending is used as an input for fuzzy logic control and produces the output to control the mobile robot. The flex sensor is capable of varying values between normal conditions of 27.2 k Ω up to a maximum of 46 k Ω . The lowest speed of the mobile robot is 0.75 m/s, with a maximum speed of 2.17 m/s. The commands from the electronic glove are sent to the mobile robot wirelessly with a maximum distance between electronic glove and the mobile robot of 200 m in an obstacle-free situation. Based on the experimental results, 100% of the orders were executed according to the design. The use of fuzzy logic ensures that every bending change is accompanied by a change in speed, so that mobile robot movements become smoother.