Tele-Operated Robotic Hand using Data Glove › N-ARM › Documents › finalposter.pdf ·...
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Implementation Tele-Operated Robotic Hand using Data Glove Introduction Problem Statement Sensor Gloves in the market are too expensive, lack range and have no built-in feedback systems. Objective To make a sensor glove which is versatile, cheap , has a long range and incorporates feedback into the system Conclusion Literature Survey Each glove was developed to satisfy a particular purpose. The “Sayre Glove” was constructed of flex sensors which functioned on the amount of light passing between a light source and a photocell. The “Digital Entry Data Glove” used a combination of sensors mounted on the glove to help in the implementation of sign language. The “Fibre Optic Glove” was the first multipurpose glove with sensors measuring the angles between the adjacent fingers. The “Power Glove” was designed as a control device for Nintendo video games. The “Cyber Glove” and the “Human Glove” were the first gloves that can be calibrated to each user due to its great number of sensors mounted on the glove and to minimize sensitivity. Recently, the “Pinch Glove” uses electrical contacts at the fingertips, on the back of the fingers or in the palm. When two or more electrical contacts meet, a conductive path is completed and a posture can be made. Sayre Glove Fiber Optic Glove Power Glove Cyber Glove 1977 1987 1992 1989 1997 Human Glove 2000 - Present 5DT Data Glove 1983 Digital Entry Data Glove Ahmed Hesham Mohamed, Arian Yusuf, Nouran Sabry Mohamed, and Mouhyemen Ahmed Khan Electrical and Computer Engineering Texas A&M University at Qatar Functional Modeling Designed System Bibliography Historical Review Customer Needs Benchmarking Sensor Glove Flex sensor reads values and sends them wirelessly using Zigbee to the robotic hand. Operation is controlled with the help of Arduino controlled board. Wireless Communication The flex sensor readings are transmitted to the robotic hand while the robotic hand’s pressure sensor readings are transmitted to the sensor glove. Robotic Hand The Arduino board receives data using Xbee, coordinates consequent robotic finger movements. Readings from the pressure sensors on the robotic hand are transmitted to the glove. Sensor Glove Robotic Hand COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD FLEX SENSOR VIBRATION MOTOR Control Unit Vibration Motors Pressure Sensors Sensor Glove Wireless Communication • Sensors: 5 • Weight: Light & Easy to use • Price: Less than $250 The haptic feedback introduced in our sensor glove is not a common characteristic for the competitor gloves and the operating range that our team is aiming for exceeds all the other competitors, which will provide an essential enhancement in the industry. We have conducted many experiments. We tested all the sensor glove and the robotic hand together, where they functioned perfectly with no delay between the receiver side and the transmitter side. Acknowledgments • Bill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]. Retrieved from http://www.youtube.com/watch?v=qL8powplgcI • Eye-Spy Aw, Snap!. (2013, June 18). Robotic ‘Wearable ExoSkeleton Hand’ [Video file]. Retrieved from http://www.youtube.com/watch?v=Lgb1x7P3Anw • Jumpei Arata [純平 荒田]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4 • 5DT Data Glove 5 Ultra. (2011, 11 25). Retrieved from 5DT: http://www.5dt.com/products/pdataglove5u.html • DG5 VHand 3.0. (n.d.) Retrieved from vrealities: http ://www.vrealities.com/products/data-gloves/dg5-vhand-glove-3-0 • Acceleglove user guide manual. (n.d.). Retrieved from acceleglove: http://www.acceleglove.com/AcceleGloveUserGuide.pdf • CyberGlove Systems. (n.d.). Retrieved from CyberGlove Systems: http://www.cyberglovesystems.com/sites/default/files/CyberGloveII_Brochure_2009.pdf • INITION. (n.d.). Retrieved from Essential Reality P5 Glove from Inition: http://inition.co.uk/3D-Technologies/essential-reality-p5-glove We would like to take this opportunity to thank Dr. Beena Ahmed, for her invaluable contribution, in the development of our project; Dr. Ziyad Shafik and Mr. Wesam Mansour, for his constant help throughout the project; Dr. Haitham Abu Rub, for his cooperation and input. The Team & Mentor Ahmed Ragheeb Mouhyemen Khan Arian Yusuf Nouran Mohamed Dr. Beena Ahmed Circuitry of the Sensor Glove Sensor Glove Design Implemented Sensor Glove Design Circuitry of the Robotic Hand Robotic Hand Design Implementation of the Robotic Hand Robotic Hand Flex Sensor Testing Flex Sensor Assembly Wiring of the Flex Sensors Flex Sensor Wireless Communication Testing Data Glove Construction PCB & Sensor Assembly Robotic Hand Testing Final PCB COMPONENTS ARDUINO BOARD (1 only) XBEE BOARD PRESSURE SENSOR SERVO MOTOR PCB Deign of the Robotic Hand PCB Deign of the Sensor Glove Control Unit Flex Sensors Battery Arduino Flex Sensors Vibration Motors Xbee Transmitter Xbee Receiver Xbee Transmitter Xbee Receiver Robotic Fingers Arduino Touch Sensors Arduino Arduino Battery Wireless Communication Future Recommendations The Robotic hand can be further developed, by adding a servo to make the hand rotate and a flexible humanoid shell cover. The sensor glove can be improve by adding an IMU, to measure rotation using a complementary filter, it can be upgraded to an exoskeleton glove using micro servos • Haptic Feedback: Sense of Touch • Operating Range: 60m – 100m Robotic Hand Circuitry Testing
Transcript of Tele-Operated Robotic Hand using Data Glove › N-ARM › Documents › finalposter.pdf ·...
Implementation
Tele-Operated Robotic Hand using Data Glove
Introduction
Problem StatementSensor Gloves in the market are too expensive, lack range and have no built-in feedback systems.
ObjectiveTo make a sensor glove which is versatile, cheap , has a long range and incorporates feedback into the system
Conclusion
Literature Survey
Each glove was developed to satisfy a particular purpose. The “Sayre Glove” was constructed of flex sensors which functioned on the amount of light passing between a light source and a photocell. The “Digital Entry Data Glove” used a combination of sensors mounted on the glove to help in the implementation of sign language. The “Fibre Optic Glove” was the first multipurpose glove with sensors measuring the angles between the adjacent fingers. The “Power Glove” was designed as a control device for Nintendo video games. The “Cyber Glove” and the “Human Glove” were the first gloves that can be calibrated to each user due to its great number of sensors mounted on the glove and to minimize sensitivity. Recently, the “Pinch Glove” uses electrical contacts at the fingertips, on the back of the fingers or in the palm. When two or more electrical contacts meet, a conductive path is completed and a posture can be made.
Sayre Glove
Fiber Optic Glove
Power Glove
Cyber Glove
1977
1987 1992
1989 1997
Human Glove
2000 - Present
5DT Data Glove
1983
Digital Entry Data Glove
Ahmed Hesham Mohamed, Arian Yusuf, Nouran Sabry Mohamed, and Mouhyemen Ahmed Khan
Electrical and Computer Engineering
Texas A&M University at Qatar
Functional Modeling
Designed System
Bibliography
Historical Review
Customer Needs
Benchmarking
Sensor GloveFlex sensor reads values and sends them wirelessly using Zigbee to the robotic hand. Operation is controlled with the help of Arduino controlled board.
Wireless CommunicationThe flex sensor readings are transmitted to the robotic hand while the robotic hand’s pressure sensor readings are transmitted to the sensor glove.
Robotic HandThe Arduino board receives data using Xbee, coordinates consequent robotic finger movements. Readings from the pressure sensors on the robotic hand are transmitted to the glove.
Sensor Glove
Robotic Hand
COMPONENTS
ARDUINO BOARD (1 only)XBEE BOARDFLEX SENSORVIBRATION MOTOR
Control Unit
Vibration Motors
Pressure Sensors
Sensor Glove
Wireless Communication
• Sensors: 5
• Weight: Light & Easy to use
• Price: Less than $250
The haptic feedback introduced in our sensor glove is not a common characteristic for the competitor gloves and the operating range that our team is aiming for exceeds all the other competitors, which will provide an essential enhancement in the industry. We have conducted many experiments. We tested all the sensor glove and the robotic hand together, where they functioned perfectly with no delay between the receiver side and the transmitter side.
Acknowledgments
• Bill Moede. (2012, August 18). Destination Innovation-Episode 3: Human Exploration Telerobotics [Video file]. Retrieved from http://www.youtube.com/watch?v=qL8powplgcI
• Eye-Spy Aw, Snap!. (2013, June 18). Robotic ‘Wearable ExoSkeleton Hand’ [Video file]. Retrieved from http://www.youtube.com/watch?v=Lgb1x7P3Anw
• Jumpei Arata [純平荒田]. (2012, August 1). Tele-surgery robot [Video file]. Retrieved from http://www.youtube.com/watch?v=mICsAkOeep4
• 5DT Data Glove 5 Ultra. (2011, 11 25). Retrieved from 5DT: http://www.5dt.com/products/pdataglove5u.html
• DG5 VHand 3.0. (n.d.) Retrieved from vrealities:http://www.vrealities.com/products/data-gloves/dg5-vhand-glove-3-0
• Acceleglove user guide manual. (n.d.). Retrieved from acceleglove: http://www.acceleglove.com/AcceleGloveUserGuide.pdf
• CyberGlove Systems. (n.d.). Retrieved from CyberGlove Systems: http://www.cyberglovesystems.com/sites/default/files/CyberGloveII_Brochure_2009.pdf
• INITION. (n.d.). Retrieved from Essential Reality P5 Glove from Inition: http://inition.co.uk/3D-Technologies/essential-reality-p5-glove
We would like to take this opportunity to thank Dr. Beena Ahmed, for her invaluable contribution, in the development of our project; Dr. Ziyad Shafik and Mr. Wesam Mansour, for his constant help throughout the project; Dr. Haitham Abu Rub, for his cooperation and input.
The Team & Mentor
AhmedRagheeb
MouhyemenKhan
ArianYusuf
NouranMohamed
Dr. BeenaAhmed
Circuitry of the Sensor Glove
Sensor Glove Design
Implemented Sensor Glove Design
Circuitry of the Robotic Hand
Robotic Hand Design
Implementation of the Robotic Hand
Robotic Hand
Flex Sensor Testing Flex Sensor Assembly Wiring of the Flex Sensors
Flex Sensor Wireless Communication Testing
Data Glove Construction
PCB & Sensor Assembly
Robotic Hand Testing
Final PCB
COMPONENTS
ARDUINO BOARD (1 only)XBEE BOARDPRESSURE SENSORSERVO MOTOR
PCB Deignof the
Robotic Hand
PCB Deignof the
Sensor Glove
Control Unit
Flex Sensors
Battery
Arduino
Flex Sensors
Vibration
Motors
Xbee
Transmitter
Xbee
Receiver
Xbee
Transmitter
Xbee
Receiver
Robotic
Fingers
Arduino
Touch
Sensors
ArduinoArduino
Battery
Wireless Communication
Future RecommendationsThe Robotic hand can be further developed, by adding a servo to make the hand rotate and a flexible humanoid shell cover. The sensor glove can be improve by adding an IMU, to measure rotation using a complementary filter, it can be upgraded to an exoskeleton glove using micro servos
• Haptic Feedback: Sense of Touch
• Operating Range: 60m – 100mRobotic Hand Circuitry Testing
