Wireless Animatronic Hand using Control Glove
Contents
1. ALGORITHM Read the sensor value Send wirelessly through XBee 1st Receive using XBee 2nd Arduino output to s ervo motors Figure 2 Wireless animatronic hand algorithm C WORKING OF A FLEX SENSOR A mechanical device which provides a variable resistance values after bending it is known as a flex sensor Using a flex sensor it is possible to measure the amount of resistance which is produced by a flex sensor by passing particular amount of a voltage through a flex sensor and into an analog input on Arduino UNO board A flex sensor is also known as a potentiometer or a variable resistor Flex sensors are basically made up of resistive carbon elements A flex sensor has a great form factor on a flexible thin substrate as a variable printed resistor When the substrate is bent potentiometer or a flex sensor produces the output resistance as per the bent angle Refer the figure 3 181 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 Flat nominal resistance 45 Bend increased resistance 90 Bend resistance increased further Figure 3 Varying resistance correlated to the bent image from google com From the above figure figure 3 it is clear that as the bend angle of a flex sensor increases resistance goes on increasing Nominal resistance is present at a flat position of a flex sensor Smaller the radius the resistance will be higher Figure2. 4 Control glove at the transmitter side Output voltage is measured by using a mathematical formula This formula is a voltage divider formula figure 5 using which corresponding variable voltage will be measured which will be given as an input to the Arduino UNO Y W R voltage impedance ee R R divider buffer Figure 5 Output voltage calculation D OUTPUT VOLTAGE MEASUREMENT As shown in the figure 5 variable output voltage can be measured for different bent angles It is up to the user to find out required number of voltages If you want five different bent voltages or ten or twenty different voltages using one flex sensor it is always possible to measure it using a same formula Here five flex sensors are used So three voltages are measured for each and every flex sensor See the following five tables in which flat to maximum bend resistances as well as voltages are given Sensor 1 Table 1 Sensor I readings Flat resistance 30 2 kOhm Bend resistance 69 2 kOhm o Tai V 00k 182 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 Sensor 2 Table 2 Sensor 2 readings Flat resistance 29 8 kOhm Bend resistance 80 kOhm Vmin V Vmax V 100k Sensor 3 Table 3 Sensor 3 readings Bend resistance 64 7 kOhm Table 4 Sensor 4 readings Sensor 4 Sensor 5 Table 5 Sensor 5 readings 1 12 E ANGLE MEASUREMENT OF A SERV
3. although the term servomotor is often used to refer to a motor suitable for use in a closed loop control system XBee S2 stands for series 2 ZigBee protocol It has a small wired antenna placed on it Before using this XBee S2 it is mandatory to first configure it and then use for a wireless communication so that you may allow your XBee to update the firmware on the radios This configuration can be done easily by using X CTU software 180 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 I IMPLEMENTATION A DESIGN Arduino UNO 1 Arduino UNO 2 l TRANSMITTER Data to be sent wirelessly XBee S2 gt aria Control glove Robotic hand Figure 1 Block Diagram of a Wireless animatronic hand As shown in the figure there are basically two parts of a wireless animatronic hand i e Transmitter and another is a Receiver In the first block there are two boards Arduino UNO and XBee S2 respectively This part is known as a control glove which contains flex sensors These flex sensors are connected to the input pins of the Arduino board This voltage value was serially sent to the XBee transmitter pin This data is then wirelessly sent to the another XBee S2 which is there in the receiver part XBee at the receiver side received the voltage value and this value was sent serially to the second Arduino board So that the motors connected to the second Arduino will start rotating B
4. this XBee is smaller than the normal spacing of breadboard Normally the pins on XBee are of 2mm spacing and not 0 1 Series 2 is different as it use ZigBee wireless stack of the 802 15 4 Due to this it becomes better for a low power usage and advanced users who want many XBees in a spread out configuration XBee adapter module kit has a 250mA 3 3V regulator XBee comes with a wire antenna It is needed to set up a coordinator module So that they are not plug and play To configure this XBee module a software named X CTU is used here 3 3V H a Tx Dito Oad Rx H gt a 4 a ei a E a a 3 e 6 9 E 8 eh i me 9 ni2 a 10 Aii 2 4 com Figure 9 XBee pin configuration 184 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 Table 6 XBEE pins DTR Pin Sleep Control Line pin Module Status Indicator pin Not used on this module For compatibility with other XBee modules we recommend connecting this pin to a voltage reference if Analog sampling is desired Otherwise connect to GND Associated Indicator Digital I O 5 IV RESULTS A wireless animatronic hand was first tested with a single finger It was observed that after bending a single flex sensor at the transmitter side the corresponding robotic finger moved in the same manner and same angle Servo motor causes the movement of a robotic finger With reference to this all five servo motors moved or co
5. International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 Wireless Animatronic Hand using Control Glove Tejashree Dhamapurkar Neelakshi Ghag Aarti Kamble Krutika Bhiwapurkar Prof Mrs Shubhada Deshpande Padmabhushan Vasantdada Patil Pratishthan s College Of Engineering Sion Mumbai ABSTRACT This paper discusses the design and implementation of a wireless animatronic hand using XBee S2 and Arduino UNO board The main aim of this paper is to highlight mainly the use of wireless communication and it s applications by using wireless animatronic hand The system electronic product was implemented using control glove micro servo motors XBee S2 and Arduino UNO board having on board Atmega 328 Keywords XBee S2 Arduino UNO XBee shield flex sensors micro servo motors I INTRODUCTION Wireless animatronic hand is basically a robotic hand which is implemented by using a latest wireless technology Intension of this product is to help get involved in many of the industries where human hand is must to complete the required task but it may harm human skin or bones Here instead of using actual human hand we can replace it by this wireless robotic hand We may allow this robotic hand to complete the same task so that the risk will be avoided and obviously required task can be achieved For example consider a chemical industry where highly hazardous chemicals are to be handled every
6. O MOTOR To handle the finger movements and rotations micro servo motors are being used in this project A rotary actuator that allows for a precise control of velocity acceleration as well as an angular position is known as a servomotor Servomotor is a motor suitable for use in a closed loop control system It includes suitable motor coupled to a sensor to get a position feedback It need a relatively sophisticated controller often a dedicated module which is designed specifically for use with servomotors Figure 6 Micro servo motor image from google com Servomotors can be used in various applications such as robotics CNC machinery or automated manufacturing As shown in the figure 7 servo motor gives different angles for different duty cycles In this project at the receiver side these five motors are connected so that we can achieve a smooth movement of a finger of a robotic hand 183 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 servo centered servo 45 mess yy rirl ad FII i gt eS ey i oy HF F Ay PST PA eh Figure 8 Robotic hand model at the receiver side F INTERFACING AN ARDUINO WITH XBEE The series 2 ZigBee protocol of 1Mw with wire antenna is used for a wireless communication It is better for a point to point multipoint as well as for mesh networks It is must to use an adapter to place this Xbee because spacing of pins of
7. day In this case to handle extremely hazardous substances like Allylamine Bromine chloride Methyl isocyanate etc if we will allow this wireless animatronic hand it will be safer for everyone Also this hand can help paralysis patients who can t move from the bed Consider a paralysis patient wants to switch ON the fan but he can t get up from the place where he is and he is alone at his home In this case a robotic hand is there so that by moving a control glove he can easily push the switch by using a wireless robotic hand This paper intends to implement an affordable electronic product known as wireless animatronic hand based on wireless technology based on XBee S2 as well as Arduino UNO board Arduino UNO is a microcontroller board which has on board microcontroller ATmega 328 It has total 14 pins including analog and digital pins There are 6 PWM Pulse Width Modulation output pins on this board Also it has 6 analog inputs a USB connection a power jack a 16 MHz ceramic capacitor an ICSP header and a reset button The Arduino UNO differs from all preceding boards in that it does not use the FTDI USB to serial driver chip Instead it features the Atmegal6U2 Atmega8U2 up to version R2 programmed as a USB to serial converter so that this board is used to make this robotic hand Basically there are two main parts of this project i e transmitter Control glove and receiver mechanical electronic robotic hand Control glove mainly consis
8. ntrolled by five flex sensors on a single control glove In this way a wireless communication has been achieved successfully So now it is possible that a man can control a robotic hand from a distance wirelessly Figure 10 Working of a robotic hand image from google com V CONCLUSIONS This technical paper presents an affordable wireless animatronic hand which is implemented by using a latest wireless technology A robotic hand will work smoothly when there is no any obstacle in between two XBee antennas It can be widely used where there are restrictions or a hazard to a human hand The price of this wireless animatronic hand can be reduced by using optional kits for a wireless communication purpose like nrf24101 module Future efforts will be made to make this hand movable from one place to another flyable and even swimmable if possible ACKNOWLEDGMENT We would like to acknowledge Prof Mrs Shubhada Deshpande M E Electronics from Padmabhushan Vasantdada Patil Pratishthan s College of Engineering Mumbai for her guidance on this project 185 International Journal of Innovative and Emerging Research in Engineering Volume 2 Issue 2 2015 REFERENCES 1 Arduino UNO official website http www arduino cc 2 XBee wireless communication website http www ladyada net make xbee arduino 3 Servo motor and flex sensor interfacing example https www youtube com watch v LUz2VmETaNI 4 Arduino tutorial http www yo
9. ts of flex sensors There are total five flex sensors placed separately on each finger on the glove Human hand will control another robotic hand so that it is called as a control glove Future efforts would be to make this hand to fly as well as to move from one place to another Il BACKGROUND WORK A flex sensor is a mechanical device that provides a varying amount of resistance when sensor is bent By passing particular amount of voltage through a flex sensor into an analog input on Arduino UNO board it is possible to measure the amount of resistance produced by a flex sensor i e variable resistor or potentiometer The Flex Sensor patented technology is based on resistive carbon elements As a variable printed resistor the Flex Sensor achieves great form factor on a thin flexible substrate When the substrate is bent the sensor simply produces a resistance output correlated to the bend radius The smaller the radius the higher the resistance value At the receiver side micro servo motor is used Servomotor is basically a rotary actuator that allows for precise control of angular position angular movement velocity as well as acceleration Micro servo motor consists of a suitable motor coupled to a sensor through XBee S2 placed on the XBee s2 adapter for position feedback It also requires a relatively sophisticated controller often a dedicated module designed specifically for use with servomotors Servomotors are not a specific class of motor
10. utube com watch v E6KwX Y mMiak 5 XBee datasheet https www sparkfun com datasheets Wireless Zigbee X Bee Datasheet pdf 6 Servo motor control user manual http www baldor com pdf manuals 1205 394 pdf 7 X CTU Configuration and test utility software by Digi http www digi com products wireless wired embedded solutions zigbee rf modules xctu 8 X CTU user s guide http ftp1 digi com support documentation 90001003_A pdf 9 XBee quick reference guide manual 186
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