Development of a gesture-based robot hand | |
| Author | Samarakoon, Chinthika Ushani |
| Call Number | AIT Caps Proj no.ME-15-24 |
| Subject(s) | Robot hands Robotics |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering |
| Publisher | Asian Institute of Technology |
| Abstract | In the never ending research of the field of robotics the controlling part can be pointed out as the most difficult but yet the most important part. Out of the many ways of controlling a robot, remote control has been one of the highly developing and research based areas in the controlling side. From all of the many ways of remote control, gesture based control plays a big part due to its complexity and ease of day to day usability. This project is done in order to test the gesture based control strategy of robotics. The project is based on the controlling of a robotic hand with the aid of hand gestures. The hand gestures will include the movement of fingers( bending of fingers ) and the movement of the hand ( forward, backwards, left and right). Resistive flex sensors were used to get the finger bending detected and the rest of the hand movements were detected by using a 3 DOF accelerometer. The accelerometer and the bend sensors were mounted onto a glove and the controlling base was an Arduino Mega with the RF transceiver module. The robot hand just consisted of a two finger gripper made out of Aluminum which could be rotated from the wrist and also could be bent forward and backward. The results were obtained after the final testing has been done. The movement of the two fingers of the robotic gripper was obtained when index finger of the glove where the flex sensor was fixed onto was bent and once it comes back to the initial position the gripper also comes back into its original position. The forward and backward bending of the gripper from the wrist was obtained when the glove was tilted forward and backward. When the glove was tilted to the sides (Left or right) the gripper was rotated 360 degrees according to the side of the tilt. This project will be of help to the developers of gesture based robots and can be also used in outer space missions and missions that needs to be carried out in hazardous environments and also for medical purposes such as a tool for the handicapped people or as a surgical equipment once its much developed. |
| Year | 2015 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Bohez, Erik L. J.;Mongkol Ekpanyapong; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2015 |