Human Hand Emulator

Topics: Control theory, Robotics, Servomechanism Pages: 10 (2685 words) Published: May 21, 2013

The aim of this project is to copy the hand and arm motions of a human operator and repeat the same motions on a human like robotic arm system, simultaneously.

A robot is an automatic or virtually intelligent agent that can carry out tasks robotically or with some supervision, typically with the aid of a remote control. In practice, a robot is usually an electro-mechanical machine that is guided by means of computer and electronic programming. Robots can be autonomous, semi-autonomous or remotely controlled. Robots are used within an increasingly wide variety of tasks such as for household appliances like vacuuming floors, mowing lawns, cleaning drains, building cars, in warfare, and in tasks that are too expensive or too dangerous to be performed through humans such as exploring outer space or at the bottom of the sea. In the implementation process, the software consists of the commands that control a robot's actions and provide information regarding required tasks. When a program is written by means of software, the robot is able to implement commands and achieve the particular errands.

The Human Hand Movement Emulator combines concepts of Mechanical and Electronics Engineering to form a robotic emulator hand, that can grip, move and perform similar tasks as done by a human hand at places that are inaccessible or not fit for the human hand.


The robotic arm will work in two modes.

1. Input by human: The robotic arm will emulate the actions performed by human arm. This will be done using a virtual arm which will be controlled by the human. The microcontroller will sense the motions performed by the virtual arm, understand them and output signals to the robotic arm. The robotic arm will move based on the signals provided by microcontroller.

2. Pre-programmed set of motions: The microcontroller will be fed with a program. This program will contain pre-determined set of movements. According to the instructions provided in the program, the robotic arm will perform the movements. This mode of operation is generally useful in assembling.


Background of the project

3.1 ARDUINO-An open source electronics prototyping platform
Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. It's intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments. Arduino can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights, motors, and other actuators. The microcontroller on the board is programmed using the Arduino programming language (based on Wiring) and the Arduino development environment (based on Processing). Arduino projects can be stand-alone or they can communicate with software running on a computer (e.g. Flash, Processing, MaxMSP). An Arduino's microcontroller is also pre-programmed with a boot loader that simplifies uploading of programs to the on-chip flash memory, compared with other devices that typically need an external programmer.

fig 3.1
1-USB jack, 2-Power jack, 3-Power selection jumper, 4-Digital pins, 5-Analog I/p pins, 6-Power pins, 7-Reset button.

Digital Pins

In addition to the specific functions listed below, the digital pins on an Arduino board can be used for ipin has an internal pull-up resistor which can be turned on and off using digitalWrite() (w/ a value of HIGH or LOW, respectively) when the pin is configured as an input. The maximum current per pin is 40 mA. * Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. On the Arduino Diecimila, these pins are connected to the corresponding pins of the FTDI USB-to-TTL Serial chip. On the Arduino BT, they are connected to the corresponding pins of the WT11 Bluetooth module....
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