Design Analysis on Tele-operatic Supernumerary Robotic Limb

摘要

the approach of this study is to develop a teleoperatic supernumerary robotic limb for ease of use, comfortability, while maintain its reliability to assist its user. The controller was made as an Android operating system application, to control each servo motor wirelessly. Bluetooth was utilizes as the connection to the microcontroller that control the robotic actuators. It shows the signal that has been produced from the Android operating system application, can be forwarded via Bluetooth as a string value. Subsequently, the string value, that stores the command for servo motor position, can be process using a for-loop function. Therefore, the servo motor will be able to move to the desired position in a controlled manner, instead of directly move to a certain position in a maximum speed, which might implicate structural deformation on the linkage. This result displayed that by shifting the controller to tele-operatic system, could contribute for far more complex supernumerary robotic limb development, without additional weight to be loaded to the user body.