Hand Gesture Controlled Robotic Hand

-

Presently, robotic hands are used in variety of applications, including military, defense medical surgery, and pick and place functions in industrial automation. The robotic hand can move and execute the role based on the gestures of human hands, which can mimic human hand movements.

This project presents data, strategies, and procedures which are fundamental for building a mechanical hand constrained by the development of typical human hand where the information is procured by utilizing the sensor fusion strategy of various sensors such as TCRT5000. The hands are extremely adaptable and can be used in a variety of environments.

As the individual touches the IR sensor, the fingers move likewise which catches and handles the movement and exerts accordingly. The toiling of this hand depends on the Arduino stage; in which all sensors are interfaced with one another by utilizing remote correspondence. While NRF24L01 the transceiver module is used to transmit and receive the IR sensor data. Thus, this framework gives a chance to expand versatility and opens up a new application territory and diminishes the hole between the actual world and the advanced world with a yield more natural.

The proposed work is achieved by utilizing the Arduino microcontroller, IR sensor and RF sender and receiver (transceiver). Two main benefactions are presented in this work. Firstly, we’ve shown that the Robotic hand can be controlled with hand-gestures according to the movement and position of the fingers. Secondly, the proposed Robotic hand system can be further extended to and infused with servo motors to move vertically and pick and place the objects, which would be shown on the LCD infused on the Robotic hand. This Robotic hand system is introduced to pick and place objects, mimic the human hand and perform tasks where human lives are at risk. The proposed system is designed at lab-scale prototype to experimentally validate the efficiency, accuracy, and affordability of the system. We remark that the proposed system can be implemented under real conditions at large-scale in the future that will be useful in automobiles and robotics applications.

Scope of the Project

There are high requirements to develop artificial hands for many inhuman situations where human interactions are presenting challenges for not possible situations. This proposal presents information, methods, and techniques which are essential for building a robotic hand controlled by the movements of normal human hand (Gesture Robotic Hand) whose data is acquiring by using the sensor fusion technique of various sensors such as TCRT5000.

It is an integrated approach in real time detections, gesture-based data which controls vehicle movement and manipulation on hand movements of the user. As the person moves their hand, and touches the IR sensor the fingers of the Robotic hand moves accordingly. The motion is captured by IR sensor and processed. The development of this hand is based on the Arduino platform; in which all are interfaced with each other by communication such as using NRF24L01 which initiates serial communication. Hence this system provides an opportunity to increase adaptability and opens up new application areas and reduces the gap between the physical world and the digital world with an output more intuitive.

As today human machine interaction are moving away from mouse and pen and is becoming pervasive and much more compatible with the physical world. With each passing day, the gap between machines and human is being reduced with the introduction of new technology, having future scope of advanced robotic hands that are designed like the human hand and can easily be controlled using hand gestures only. For appropriate control mechanism and for reducing the noise amount, which is coming in from the sensors, a proper averaging algorithm will be used for smoothing the IR sensor output. It also has proposed utility in the field of construction, medical science, and radioactive labs etc. Furthermore, the hands if mounted on a Rover can be moved around through gestures anywhere.

Problem Statement

· The main problem in the current robot control is that the operator has to use any manual control system to direct the controller or the joystick to move the robotic hand.

· Also the range is not considerable.

· Most importantly the operator should be able to control the Robot naturally through gestures and view the informed environment conveniently.

· Mobility aid for persons with disabilities.

Aims and Objectives

The main goal of this project is to create a system that provides more natural and convenient ways of expressing intentions and interactions with the environment remotely, and perform repetitive task of pick and place which can be controlled through gestures. In this context following are the main objectives:

· To design a wireless robotic platform.

· To develop intuitive gesture based control strategy for operator.

To implement a pick and place approach, with the focus primarily on the task of grasping objects of different shapes and manipulating or assembling objects, assisting impaired people.


Figure 1 Wireless Gesture control


Inclination when user moves his hand in any direction then the robotic arm can move accordingly to the direction of the user hand. The whole system is divided into two sections one is transmitter section and other is receiver section. This system provides an opportunity to increase adaptability and opens up new application areas and reduces the gap between the physical world and the digital world with an output more intuitive.

The main hardware components used in this project are:

3.1       Glove

3.2       TCRT5000 (IR sensor)

3.3       Servo Motors MG90s

3.4       NRF24L01

3.5       Arduino Nano

3.6       Arduino Nano shield

3.7       LCD

3.8       LIPO Battery

3.9       Custom 3D Printed Hand

Figure 2 Cotton Knitted Glove

Custom 3D Printed Hand

This complete Robotic hand is designed as shown in figure 3 through SOLIDWORKS software which provides free symbols & footprints for Altium, Eagle, Ki cad, PADS & Other 20+ Design Tools. It is 3D CAD design software published by Dassault Systemes that runs primarily on Microsoft Windows. Whereas, Ultimaker Cura is used for printing CAM designs, which is World’s most popular 3D printing software.

Figure 3 3D Printed Parts

Hardware Design

Hardware control is divided into two parts.

         i.  Robotic Platform or Base Control and receiver side

       ii.  Gloves infused with sensors for transmission side


Steps for Designing and Implementation

Step 1. User moves his hand. 

Step 2. Sensors detect movement.

Step 3. MCU reads sensor data and transmits the data to Arduino through Serial communication.

Step 4. Arduino Sends data to Robot node through Radio wave.

Step 5. NRF24L01 (Transceiver) gets incoming data.

Step 6. Sends data to MCU of the Robot.

Step 7. MCU analyzes incoming data to see if the condition matches.

Step 8. If yes, triggers an even to actuate robot accordingly.



Figure 4 Working of Designed Robotic Hand


For code and further queries regarding the project contact me at:

Email: easymathsforyou3@gmail.com


video Link:

https://www.youtube.com/watch?v=6GhK0qwlzfU

Comments

Post a Comment

Popular posts from this blog

ESP32 Error: A fatal error occurred: Timed out waiting for packet content.

-
Image
This article provides a complete solution for the most common Fatal error that usually occurs while uploading the code to ESP32. In this article I have interfaced DOIT ESP32 devkit V1 module with MG995 servo motor on GPIO = 18. You can use any module of your choice. Servo Motor Connections: Most analog servo motors like the MG995 use a 3-wire color-coded cable for interfacing. Although the color-coding is not an official standard many manufacturers use the same colored wires: 1)Orange – The PWM servo control input. This is a logic-level signal, and most servo motors can accept 3.3-volt logic as well as 5-volt logic. Some models, especially 270-degree rotation servos, use a White wire for this connection. 2)Red – The servo motor power supply input. Generally 3.3-5 volts DC, but be sure to check first. 3)Brown – The ground connection. On some servo motors, this is a Black wire ESP32 PWM Most micro controllers can be used to generate PWM signals and the ESP32 is certainly no ex...
Read more

How to calculate Mean, Median and Mode in python

-
#CALCULATE MEAN import numpy as np speed = [ 99 , 86 , 87 , 88 , 111 , 86 , 103 , 87 , 94 , 78 , 77 , 85 , 86 ] x = np. mean (speed) print (x) #CALCULATE MEDIAN import numpy as np speed = [ 99 , 86 , 87 , 88 , 111 , 86 , 103 , 87 , 94 , 78 , 77 , 85 , 86 ] x = np. median (speed) print (x) #CALCULATE MODE from scipy import stats speed = [ 99 , 86 , 87 , 88 , 111 , 86 , 103 , 87 , 94 , 78 , 77 , 85 , 86 ] x = stats. mode (speed) print (x)
Read more

Detecting Obstacles and Warnings with ultrasonic sensor

-
Image
Components Required: 1x Arduino 1x Ultrasonic sensor 1x Buzzer 1x Jumper wires Application: https://www.arduino.cc/ Code: int trigPin = 6; int echoPin = 5; int buzzPin = 2; void setup() {   Serial.begin(9600);     pinMode(buzzPin, OUTPUT);    pinMode(trigPin, OUTPUT);   pinMode(echoPin, INPUT);   // put your setup code here, to run once: } void loop() {   long duration, distance;   digitalWrite(trigPin,HIGH);   delayMicroseconds(1000);   digitalWrite(trigPin, LOW);   duration=pulseIn(echoPin, HIGH);   distance =(duration/2)/29.1;   Serial.print(distance);   Serial.println("CM");   delay(10);    if((distance<=10))    {     digitalWrite(buzzPin, HIGH); }    else if(distance>10)  {      digitalWrite(buzzPin, LOW);    } } Your project is all set...!!! Visit my YouTube channel once and see more interesting projects. https://www.youtu...
Read more