HUMAN CONTROLLED ROBOTIC HAND USING GESTURE RECOGNITION

(WORKING MODEL)

1.Introduction The Human Controlled Robotic hand is a system created to maneuver a robotic hand according to human hand gestures. The input to control the robotic arm comes from a Sensor glove. This design was inspired based on the amp suit shown in the movie Avatar. Also we present the hardware and software architecture of the robot in this paper.

3.Design Overview

2.BRIEF OVERVIEW The input to control the robotic arm comes from a data glove. The data glove which uses 5 flex sensors and accelerometers to detect motion. The research areas of interest include servo motor control, programming AVR Atmega8 MCU using Arduino Software, serial Communication of AVR with another MCU(Servo Controller) and with the PC and building a GUI using Processing software. Details regarding the physical aspects of the Arm, including the size of the structure and the degrees of freedom and The electronics systems and communication between the arm and the PC is detailed in following section.

4.Hardware Our system consists of three main modules that is the Data Glove with flexsenors and accelerometer, the robotic hand with a 7 Degrees of freedom (DOF) of movement and MCU which will monitor sensor signals and sends the control variables to the servo controller and finally the actuation is achieved by servomotors and the entire process is visualized on the screen using GUI (Processing Software Java based Package)

The Robotic hand is capable of performing pitch and roll action and actuation of fingers The hand is powered by 10kg/cm Servo motors 5.SOFTWARE The code running on the MCU regularly reads the analog signals coming from the data glove and converts the them to a 10 bit digital value using internal ADC and mapping the respective reading to the respective servos to achieve the desired angle and also sends the sensor reading to the serial port of the PC. 6.GUI For visualizing the sensor reading coming from the serial port we have used Processing an open source Java based programming language and environment. It basically makes a graph of the sensor reading and displays on the computer screen thus making the system more interactive.

The flex sensors data and acceleration data is captured by mcu and transmitted wired or wirelessly to the actuation side

GUI on PC Screen

A brief idea of how the design would be presented (exhibited) during the exhibition We would make our presentation by first expressing and explaining our idea and our approach to implement the idea in to reality Later we demonstrate out working model in front of panel of judges or audiences To make the presentation of our idea more effective and ignite many more Ingenuity minds
Working prototype picture of robotic hand