Hand Movement Controlled Robotic Arm

A robotic arm that can be wirelessly controlled with a glove that contains IMU and flex sensors.

Things used in this project

Hardware components

SG90 Micro-servo motor ×4

Robotic Arm Kit ×1

Flex/Bend Sensor ×1

DFRobot 6 DOF Sensor - MPU6050 ×1

SparkFun Arduino Pro Mini 328 - 5V/16MHz ×1

Arduino UNO & Genuino UNO ×1

NRF24L01 Breakout Board ×2

Story

A transmitter circuit, powered by an nRF24L01 breakout board and Arduino Pro Mini, is attached to a glove. The circuit also contains an IMU and flex sensor.

For this project, a DIY flex sensor was used:

The flex sensor contains a light transmitter and a receiver in both ends of the tube. When the tube is bent, the light receiver receives less light, thereby detecting the bend.

The MPU6050 IMU detects wrist rotation. The movements are detected and sent to the receiving circuit through the nRF24L01 transceiver.

The receiver circuit decodes the data coming from the transmitter and moves the four-servo robotic arm accordingly. The robotic arm used is the one from MeArm.

Schematics

Glove Fritzing Diagram

Robotic Arm Fritzing Diagram

Robot Arm 3D Print Layout

Layout for MeArm robotic arm

Code

Project Source Codes

kurimawxx00 / robotic-arm-hand-gesture

Latest commit to the master branch on 5-24-2017   Click here to Download

This article copied from hackster.io, Author: Roland Pelayo