This document describes the design of a bionic fist project using a microprocessor and microcontroller. The project aims to create an affordable robotic hand prototype for tele surgery using haptic technology. The hand movements are controlled via flex sensors on a glove that detect finger movements. The circuit diagram and components used include an Arduino, servos, flex sensors and other basic electronic parts. Existing similar projects are reviewed along with their limitations. The scope and working of the proposed bionic fist project is explained, detailing how finger gestures detected by the glove are processed and used to control the robotic hand movements.

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MICRO PROCESSOR
AND
MICRO CONTROLLER
MINI PROJECT
BIONIC FIST

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CONTENT
1. Purpose………………………………….………….......................................4
2. Existing Projects
2.1 Hand of Man Crushing Machine…....……………...............................5
2.2 Robotic Grasp Controller………….…................................................5
3. Scope…….………………..........................................................................6
4. Circuit Diagram …………………….……………...….................................. 7
5. Component……………………………………………………………………..8
5.1ReasonBehind……………………………….………............................8
7. Budget……………………………………………..........................................9
8. Conclusion…………………………………...………..................................10

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Purpose
The project aims to designand implementa cost-
effective and an affordable prototype modelof robotic hand for
telesurgery using haptic technology. The movements of the robotic palm
are controlled by moving the user’s fingers using the Flex sensors.
The reason for our innovation and exploration is
to give more easier and engineered way of controlling a robot. This basic
engineered circuitry base robotic is an additionally valuable for
instructive application in anotomy, since understudies can fabricate their
own robots with ease and utilize them as stage for tests in a few
courses.The motivation behind this venture is to build up a hand remote
system to control a robot by means of hand movement.
Both the circuitry and base are clipped upon the
commonbase, made of acrylic to improve the stability. The whole
chassis is made of Acrylic; the lowest point servo is attached in such a
way that it moves the upper base horizontally from 0-180 degree
depending upon the values from the APC-220 Module. The Robot
moves and acts in the manner depending on the gestures which are
made by the fingers and hand from a distance. The robotmoves in up,
down, left or right directions and picks up objects from one place and
keeps at another desired place as directed by the movements of fingers
and hand. It is a TYPE – C Robot, Programmable,servo controlled with
continuous or point to point trajectories.

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Existing Projects
HAND OF MAN CRUSHING MACHINE
The Hand of Man is an interactive crushing machine. It is
comprised of a 26-foot (8 meter) long hydraulically-actuated human hand and
forearm which is capable of picking up and crushing cars, and a “glove” device that
controls it. Any movement in the “glove” controller is accurately reproduced in the
large robotic Hand Members of the public are invited to insert their own hands into
the controller, and through the miracle of modern hydraulic technology, they are able
to effortlessly lift, crush, and toss enormous objects such as cars. But this system
has some demerits and complications also, though this hand operated crushing
machine makes the work easier but it’s efficiency level is very low and this crushing
machine is highly operated using accelerometer and gyrometer sensors which are
not long lasting , so it has less durability compared to the gloves controlled robotic
hands made using ATmega32.
ROBOTIC GRASP CONTROLLER
A robotic grasp controller that allows a sensorized parallel
jaw gripper to gently pick up and set down unknown objects once a grasp location has been
selected. This approach is inspired by the control scheme that humans employ for such
actions, which is known to centrally depend on tactile sensation rather than vision or
proprioception. This controller processes measurements from the gripper's fingertip pressure
arrays and hand-mounted accelerometer in real time to generate robotic tactile signals that
are designed to mimic human SA-I, FA-I, and FA-II channels. These signals are combined into
tactile event cues that drive the transitions between six discrete states in the grasp controller:
Close, Load, Lift and Hold, Replace, Unload, and Open. The controller selects an appropriate
initial grasping force, detects when an object is slipping from the grasp, increases the grasp
force as needed, and judges when to release an object to set it down. But the accuracy of this
robotic grasp controller is less compared to the gloves controlled robotic hands because this
robotic grasp controller uses three channels only to send and receive signals for the
processing of the movements of the machinery whereas the glove controlled robotic hands
based on ATmege32 has better accuracyas it uses five channels for the machine movements.

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SCOPE
Both the circuitry and base are clipped upon the common
base, made of acrylic to improve the stability. The whole chassis is made of Acrylic;
the lowest point servo is attached in such a way that it moves the upper base
horizontally from 0-180 degree depending upon the values from the APC-220 Module.
The Robot moves and acts in the manner depending on the gestures which are made
by the fingers and hand from a distance. The robot moves in up, down, left or right
directions and picks up objects from one place and keeps at another desired place as
directed by the movements of fingers and hand. It is a TYPE – C Robot,
Programmable, servo controlled with continuous or point to point trajectories.
Robotic glove houses the circuitry which controls the robotic arm. It consists of Arduino
ATmega32 which is programmed in such a way that it transfers the required data with
the help of APC – 220 Module as well as it receives the data transmitted by the robotic
arm. The Gyroscope and Accelerometer installed takes the angles (alpha, beta and
gamma) and acceleration in all three directions of the hand respectively, sends the
signals to the Arduino Mega via wires where the values are combined and processed
simultaneously. At the same time the Flex sensor is doing its job by sending the degree
of movement of the finger to the Arduino Mega. The processed values are then
transmitted from the Module (Trans-receiver) to the robotic arm. The module takes the
feedback from the arm and sends the new processed signals to it.
It is the main instrument where implementation of the program from the robotic glove
takes place. It consists of total of 6 nos. of Servos, connected in such a way that it
provides 3 DOF’s (Degrees of Freedom) to the system. A micro controller Arduino
UNO which inputs the values from the module and sends the data accordingly to the
servos.

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CIRCUIT

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MATERIALS
 Arduino Uno
 Servo Motor (SG90 mini servo)
 Flex Sensors
 Resistors (10k ohm resistor)
 Jumper Wires
 Breadboard and Mini Breadboard
 Styrofoam
Reason Behind Use of
Arduino Instead PIC
Our Project has high Complexity to use
PIC Controller Instead of Arduino. Some of main reason
are listed below
 Due to lack of insufficient pin in PIC
 Due to huge space taken by PIC
These are Some of the main reason for the use of
Arduino in our Project.

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Estimated
2000

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CONCLUSION
Wearable technology has become an integral
part of modern era where it governs the human machine interface to a great extent.
This is the easiest way of communication between human and machine in the form of
control or commands. One such device is wearable glove which is extensively used in
commercial applications such as gaming, entertainment, device control as well as
robotics and medical industries. These gloves are using different types of sensor for
gathering information on finger position. This work describes one such effort to
develop wearable glove based on flex sensor, its advantages, limitations and feasibility
of implementation for robotic application. The glove is designed using open source
Arduino platform. Each flex sensor is calibrated for its optimized performance and
software implementation is done accordingly. Performance of the wearable glove is
visualized on a desktop PC using self developed stance visualization software. A 3D
model of robotic gripper/hand is used for this purpose.
Growing demand for natural Human Machine Interfaces and robot easy programming
platforms, a gesture recognition system that allows users to control an industrial
robotic arm was proposed and implemented successfully. A 3-axis accelerometer was
selected to be the input device of this system, capturing the human arm behaviour to
control the robotic arm movement. And two flex sensors were used to control gripper
movement. When compared with other common input devices like teach pendant, this
approach using accelerometers over wireless medium is easier to work. Using this
system, a non-expert robot programmer can control a robot quickly and in a natural
way. The low price and short set-up time are other advantages of the system. Future
work will build upon increasing the number of accelerometer movement which is
possible through the use of highly sensitive accelerometers.
The gloves controlled robotic hand using ATmega32 involves the use of Arduino
Development Board to program and a Flex Sensor by which bending motion is done.
The project helps in understanding of the Arduino Board. The project demonstrates
how the Arduino Board is used to program and synchronize the flex sensors and the
servo motors for making it applicable for different purposes.

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Thank you