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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