Flex Sensor Based Wireless Robot

Volume 2, Issue 7, July 2017 International Journal of Innovative Science and Research Technology
ISSN No: - 2456 2165
Flex Sensor Based Wireless Robot

Glove Controlled Robot
Rishabh Mahesh Jitender Kumar Singh
Student Assistant Professor
Department of Mechanical Engineering Department of Mechanical Engineering
Shobhit University Shobhit University
Meerut, India Meerut, India
rishabhdixit25@yahoo.in jitendra@shobhituniversity.ac.in
Abstract A wired glove is an input device for human II. RELATED WORK
computer interaction worn like a glove. Sensors play an
important role in the field of robotics as they help to
An exciting description of inertial sensors and some
determine the current state of the system. Various sensor
innovative application of sensors have been explained in
technologies are used to capture physical data such as
[1]. [2] gives an examination of the impact of individual
bending of fingers. Robotic applications demand sensors
sensor on the performance of a navigation system. [5]
with high degrees of repeatability, precision, and
gives the design of a controller which is capable of
reliability. The pick and place operation of robotic arm
controlling an anthropomorphic robotic arm through a
can be efficiently controlled using flex sensors and micro
LAN or via the Internet. [6] provides a review of relevant
controller programming. This work is based on the
mobile robot positioning technologies like Odometry,
educational concepts of mechanical engineering and
Inertial Navigation, Magnetic Com-passes, GPS Model
electronics engineering.
Matching etc. Pick and place operation by controlling the
speed and position using FPGA has been discussed in [7].
KeywordsFlex sensor; Accelerometer; Microcontroller; But the important contribution of present work is that any
Transmitter; Resistance. human arm moments can be mapped onto the robotic arm
with good precision. Further the flexibility of micro
controller programming makes the task easier.
I. INTRODUCTION
III. PROJECT DESCRIPTION
The concept of a data glove has been traditionally accepted in A. Transmitter

the field of engineering. Engineers continue to develop
prototypes that use innovative sensor technologies and
architectures to achieve the goal of gesture identification. The
combination of medical science and engineering has made the
task like difficult surgery by robotic arm simpler. To identify
the motion of human limbs, different sensors can be used.
Many companies have designed units, which can integrate
accelerometers, gyroscopes and can be attached to human
limbs. These units can be worn for video game character
modeling [1], virtual reality [2,3], activity recognition [4]. A
sensor is a device that can measure some attribute of motion,
being one of the three primitives of robotics (besides planning
and control), sensing plays an important role in robotic
paradigms. Robotic arm manipulators can have different
configurations and kinematic constraints. Few of these
constraints can be effectively mapped from the human arm
domain to the robots restricted joint space. In this paper a
general method of mapping human motions to the robotic arm
domain has been demonstrated. The arm moment is
reciprocated almost exactly by the robotic arm. The author has
designed a robot which is controlled wirelessly with the help
of hand gestures which rather than controlling it manually
through a conventional remote controller. The Robot moves
and acts in the manner depending on the gestures made by the
fingers and hand from a distance. Fig. 1 Block Diagram of Transmitter Unit
IJISRT17JL182 www.ijisrt.com 438

ISSN No: - 2456 2165
Above figure shows the general block diagram of the C. Design Flow
transmitter unit of the robot. Flex sensor and accelerometer are
interfaced with microcontroller. Output devices are LCD
display and RF transmitter unit of CC2500.
B. Receiver
Fig. 3 Basic flow diagram of transmitter
Fig. 2 Block Diagram of Receiver Unit
The receiver part of RF module receives transmitted signals in

synchronization. These incoming signals are analog in nature.
These are converted into digital in microcontroller itself.
Instructions are processed and output signals are provided to
motor driver, by the output of which the motor actions take
place.LM293 motor driver provides 12V signal to boost in
speed whereas only controlling is done by controllers 5V
supply. Both units are powered by 12V regulated supply.
ATMEGA 16 is major intelligent part of the whole assembly
Alongside a display is used to display the status of the robot. Fig. 4 Basic Flow Diagram of Receiver

ISSN No: - 2456 2165
IV. HARDWARE IMPLEMENTATION C. Accelerometer
A. Microcontroller
Fig. 5 Physical View of ATMEGA16 Fig. 7 Accelerometer Chip

ATmega16 is an 8-bit high performance microcontroller of
Atmels Mega AVR family with low power consumption. The ADXL335 is a small, thin, low power, complete 3 -axis
Atmega16 is based on enhanced RISC (Reduced Instruction Set accelerometer with signal conditioned voltage outputs. The
Computing) architecture with 131 powerful instructions. Most product measures acceleration with a minimum full-scale
of the instructions execute in one machine cycle. Atmega16 can range of 3 g. It can measure the static acceleration of gravity
work on a maximum frequency of 16MHz. in tilt-sensing applications, as well as dynamic acceleration
resulting from motion, shock, or vibration. The bandwidth of
the accelerometer can be selected by using the CX, CY, and
B. Flex Sensors CZ capacitors at the X-OUT, Y-OUT, and Z-OUT pins.
Bandwidths can be selected within a range of 0.5 Hz to 1600
Hz for the X axis and Y axis, and a range of 0.5 Hz to 550 Hz
Flex sensors are analog resistors. These resistors work as a for the Z axis.
variable analog voltage divider. Within the flex sensor, carbon
resistive elements are present with a very thin flexible
D. RF Module
substrate. More quantity of carbon results in less resistance.
When the substrate is bent the sensor produces resistance
output according to the bend radius. Great form factor is
achieved by the flex sensor on a thin flexible substrate. As the
substrate is bent, resistance output is produced by the sensor
according to the bend radius as shown in Figure 6.
Fig. 6 Flex Sensor Bend Proportional to Varying Degree of

Resistance. Fig. 8 Cc2500 Module

ISSN No: - 2456 2165
[7]. U. D. Meshram and R. Harkare, FPGA Based Five Axis

E. Applications Robot Arm Controller, International Journal of
Electron-ics Engineering, Vol.2, No.1, 2010, pp. 209-211.
Collection of data [8]. Jagdish Lal Raheja, Radhey Shyam, Umesh Kumar,
Wireless metering Bhanu Prasad, Real-Time Robotic Hand Control using
Remote control / Remote measurement system Hand Gestures, Second International Conference on
Multi slave communication Machine Learning and Computin,2010.
Access control
V. CONCLUSION
In this project, we aimed to build an automated robot which

works on the gesture moments. It is a wireless communicating
device. Unlike other remote controlled robot, this design is
more efficient in the range of use and security. The objective
of preparing these projects is to understand the different kind
of sensor available and interface them with smartest
microcontroller. Also it has been beneficial to understand the
concepts of programming of controller. More outcomes from
the project are to learn PCB designing, etching, soldering,
assembling processes employed in any project design.
VI. ACKNOWLEDGMENT
We gratefully acknowledge the guidance of Mr. Raj Kishore

Singh, Asst. Professor, Department of Mechanical
Engineering, Shobhit University, Meerut who was the
constant source of inspiration and guidance to us. Also, we
would like to thank him for granting us permission to use
various instruments in department laboratory.
REFERENCES
[1]. Slyper and J. Hodgins, Action Capture with Accel-

erometers, Euro Graphics/A CMSIG GRAPHS Sympo-
sium on Computer Animation, 2008.
[2]. E. Foxl and L. Naimark, Vis-Tracker: A Wearable Vi-
sion-Inertial Self-Tracker, IEEE Virtual Reality Confer-
ence, 22-26 March 2003, Los Angeles.
[3]. M. Gross and D. James, Eurographics/ACM SIGGRAPH
Symposium on Computer Animation, Smart Objects
Con-ference SOC 03, Grenoble,2003.
[4]. L. Bio and S. Intille, Activity Recognition from User-
An-notated Acceleration Data, Pervasive Computing,
Vol. 3001, 2004, pp. 1-17. doi:10.1007/978-3-540-24646-
6_1.
[5]. D. Fontaine, D. David and Y. Caritu, Sourceless Human
Body Motion Capture, Smart Objects Conference (SOC
2003), Grenoble, 2003.
[6]. J. Bernstein, H. R. Everett, L. Feng, and D. Wehe, Mo-
bile Robot Positioning Sensors & Techniques, Journal of
Robotic Systems, Special Issue on Mobile Robots, Vol. 14,
No. 4, pp. 231-249.

Flex Sensor Based Wireless Robot

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Flex Sensor Based Wireless Robot

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Volume 2, Issue 7, July 2017 International Journal of Innovative Science and Research Technology

ISSN No: - 2456 2165

Flex Sensor Based Wireless Robot

The concept of a data glove has been traditionally accepted in A. Transmitter

IJISRT17JL182 www.ijisrt.com 438

Fig. 3 Basic flow diagram of transmitter

Fig. 2 Block Diagram of Receiver Unit

The receiver part of RF module receives transmitted signals in

IJISRT17JL182 www.ijisrt.com 439

IV. HARDWARE IMPLEMENTATION C. Accelerometer

Fig. 5 Physical View of ATMEGA16 Fig. 7 Accelerometer Chip

Fig. 6 Flex Sensor Bend Proportional to Varying Degree of

IJISRT17JL182 www.ijisrt.com 440

[7]. U. D. Meshram and R. Harkare, FPGA Based Five Axis

In this project, we aimed to build an automated robot which

We gratefully acknowledge the guidance of Mr. Raj Kishore

[1]. Slyper and J. Hodgins, Action Capture with Accel-

IJISRT17JL182 www.ijisrt.com 441

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