HUMANOID ROBOTIC HAND USING

ARDUINO

PROJECT GUIDE :
Dr.R.Arulmozhiyal,M.E.,Ph.D
PROJECT MEMBERS:
Mohammad Haaris S (1515104054)
Nishanth S (1515104062)
Mohanram P(1515104715)
Kowshik Kumar A (1515104048)
 INTRODUCTION
 The new developments on mechatronics and robotics have brought many new
technologies and innovations such as making easier of the human life,
increasing autonomy in the manufacturing sector, protecting people from
working in risky places, providing robotic limbs that can replace to prosthesis.
 A humanoid robotic arm is designed and implemented with using 3D printer,
Arduino microcontroller, Flex sensors and android software. Firstly, the parts
forming the arm and hand were modelled in Solidworks program.
 At the last, the parts were combined, servomotors were placed and
connections were made. The microcontroller Arduino was programmed for the
movements and placed to arm.
 ABSTRACT
 Today, technology is developing with rapidly increasing human needs. We
know that human makes mistakes and are not efficient. Hence to eliminate
this and to work fast with great efficiency robotics is used. Robotic arm is a
part of the robotics flied which is used for chores movement, picking,
placing and moving. Nowadays, they are mostly used in the field of
industry and medicine.
 Here we are taking glove attached with different sensors as the input. The
user wears the glove and performs specific action and as a result the
robotic arm also performs the same action. The input and output are carried
out wirelessly. This will help to remotely access the features of arm.
 METHODOLOGY

 Arduino mega microcontroller is used for the entire operation of the project.
 The coding in done in Arduino IDE using C program.
 Flex sensor is used to control the movement of the fingers and elbow joint.
 Accelerometer sensor is used for wrist movement and shoulder joint.
 Wireless connection between the two Arduino is established by nRF24L01 transceiver
module.
BLOCK DIAGRAM
CIRCUIT DIAGRAM
 Working
Phase I:
 Printing the 3D arm.
 Assembling the parts of the 3D model.
 Attaching servo motors to the fingers using nylon wires.
 Attaching flex sensors to the glove and then connecting it to the arduino.
 Programming the above modules.

Phase II:
 Phase I is further extended by the addition of various joints.
 Adding nRF24L01 transceiver module for wireless transmission between arduino.
 Additional servos are added one at the wrist another at the elbow and the last one
at the arm.
 Acclerometer sensor, one flex sensor are added in the input side for additional
movement.
 Finally program according to the project is uploaded to arduino.
 LIST OF
COMPONENTS
Arduino Board(Mega)

NRF24L01-Wireless-Transceiver-01

Servo Motor(SG 90)

Servo Motor(MG996R)

Accelerometer Sensor(ADXL335)

Battery(Li-ion 3.7V, 3000mah)

 ARDUINO MEGA
SPECIFICATION
Microcontroller ATmega1280

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 54 (of which 15 provide PWM output)

Analog Input Pins 16

DC Current per I/O Pin 40 Ma

DC Current for 3.3V Pin 50 mA

Flash Memory 128 KB of which 4 KB used by bootloader

SRAM 8 KB

EEPROM 4 KB

Clock Speed 16 MHz

Flex sensor

A flex sensor or bend sensor is a sensor that

measures the amount of deflection or bending.
Usually, the sensor is stuck to the surface, and
resistance of sensor element is varied by bending
the surface. Since the resistance is directly
proportional to the amount of bend it is used as
goniometer, and often called
flexible potentiometer. Four diodes in a bridge
configuration or two diodes and a center tapped
transformer.
 SERVOMOTOR (SG90)
Servo motors (or servos) are self-contained electric devices that rotate or
push parts of a machine with great precision. Servos are found in many
places: from toys to home electronics to cars and airplanes. If you have a
radio-controlled model car, airplane, or helicopter, you are using at least a
few servos. In a model car or aircraft, servos move levers back and forth to
control steering or adjust wing surfaces. By rotating a shaft connected to the
engine throttle, a servo regulates the speed of a fuel-powered car or aircraft.
Servos also appear behind the scenes in devices we use every day. Electronic
devices such as DVD and Blu-ray DiscTM players use servos to extend or
retract the disc trays
The simplicity of a servo is among the features that make them so reliable.
The heart of a servo is a small direct current (DC) motor, similar to what you
might find in an inexpensive toy. These motors run on electricity from a
battery and spin at high RPM (rotations per minute) but put out very
low torque. An arrangement of gears takes the high speed of the motor and
slows it down while at the same time increasing the torque. The gear design
inside the servo case converts the output to a much slower rotation speed but
with more torque (big force, little distance). The amount of actual work is
the same, just more useful. Gears in an inexpensive servo motor are
generally made of plastic to keep it lighter and less costly.
 SERVO MOTOR (MG996R)

SPECIFICATIONS

Modulation: Digital
4.8V: 130.54 oz-in (9.40 kg-
cm)
Torque:
6.0V: 152.76 oz-in (11.00 kg-
cm)
A servomotor is a closed-loop
4.8V: 0.19 sec/60°
servomechanism that uses Speed:
6.0V: 0.15 sec/60°
position feedback to control its
motion and final position. The Weight: 1.94 oz (55.0 g)
input to its control is a signal Length:1.60 in (40.7 mm)
(either analogue or digital) Dimensions: Width:0.78 in (19.7 mm)
representing the position Height:1.69 in (42.9 mm)
commanded for the output shaft.
 Accelerometer Sensor
An accelerometer is a device that measures proper acceleration. Proper
acceleration, being the acceleration (or rate of change of velocity) of a body
in its own instantaneous rest frame, is not the same as coordinate
acceleration, being the acceleration in a fixed coordinate system. For
example, an accelerometer at rest on the surface of the Earth will measure
an acceleration due to Earth's gravity, straight upwards (by definition) of g ≈
9.81 m/s2. By contrast, accelerometers in free fall (falling toward the center
of the Earth at a rate of about 9.81 m/s2) will measure zero.
Accelerometers have multiple applications in industry and science. Highly
sensitive accelerometers are components of inertial navigation systems for
aircraft and missiles. Accelerometers are used to detect and monitor
vibration in rotating machinery. Accelerometers are used in tablet computers
and digital cameras so that images on screens are always displayed upright.
Accelerometers are used in drones for flight stabilization. Coordinated
accelerometers can be used to measure differences in proper acceleration,
particularly gravity, over their separation in space; i.e., gradient of the
gravitational field.
Transceiver nRF24L01

RF24L01 is a single-chip radio transceiver for the

worldwide 2.4-2.5 GHz ISM band. The radio
transmitters and receivers include frequency generator,
enhanced ShockBurst mode controller, power amplifier,
crystal oscillator modulator and demodulator. You can
select the output power channel and protocol by setting
through the SPI port. The current consumption for the
nRF24L01+ is extremely low - under the transmitter
mode, when the transmitting power is 0dBm, the current
consumption is only 11.3mA; under the receiving mode,
it is 13.5mA; under the power down and idle mode, the
consumption is even lower. As for application, it's
widely used in many devices such as wireless mouse
and keyboard, game handle, remote control set, industry
sensor,toys,etc.
Battery(Li-ion battery 3.7V 3000mah)

Lithium ion polymer batteries, or more commonly lithium

polymer batteries (abbreviated "Li-Poly" or "Li-Po") are
rechargeable batteries which have technologically evolved
from lithium ion batteries. Their light weight, high power
output and slow rate of self-discharge have made them
extremely popular in R/C, especially electric aircraft.
 ADVANTAGES

 In Rehabilitation research, wired gloves or data glove is used to record the joint
movement
 Industrial application : it can be used in place where there is hazardous and
dangerous material or radiation which will not be safe to handle by human being
 Military application : it can be used in bomb diffuse robots where human life is
costly

DISADVANTAGE

 Not economic and very costly

 Real time implementation is difficult.
 A robot is a machine and like any machine it needs to have input/programming. It cannot think beyond what
it is meant to do and sometimes critical thinking is need
 CONCLUSION

 In this paper, implementation of a hand robot is explained. A five fingered

dexterous humanoid robotic hand was designed, implemented and prototyped.
There are many motions like the original human motions were performed by using
this prototype. The response time is very high that the robotic hand can done
quickly what the operator want. In future, authors highly believe this application
can be further improving for healthcare, military applications and prosthetics
fields. This application can be improved by other wireless technologies and can be
used another fields easily
 REFERENCE

[1] B. White, P. DeSante, T. Trask, D. Cox, Development and

Implementation of a Mechatronic Haptic Hand System University of
North Florida Jacksonville, FL 32224
[2] P.Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, C. J. Walsh,
Robotics and Autonomous Systems Volume 73, November 2015, Pages
135–143
[3] A. Elfasakhany, E. Yanez, K. Baylon, R. Salgado, Design and
Development of a Competitive Low Cost
Robot Arm with Four Degrees of Freedom. Modern Mechanical
Engineering, 2011, 1, 47-55
[4] A. Attenberger, K. Buchenrieder, An ArduinoSimulink-Control
System for Modern Hand Protheses International Conference on
Artificial Intelligence and Soft Computing ICAISC 2014: Artificial
Intelligence and Soft Computing pp 433-444