This slide will explain the working and principals of hand gesture controlled robotic arm using android phone with arduino.

1. HAND GESTURE CONTROLLED
ROBOTIC ARM USING ANDROID
SUBMITTED BY: GUIDED BY:
PARVEZ HAFEEZ SOMESH
CHATURVEDI
MONU NAGAR ASST. PROFESSOR
MANOJ MAHAWAR EEE DEPT.
B.TECH , ELECTRICAL ENGG.
VI SEM

2. CONTENTS
• INTRODUCTION
• METHODOLOGY
• ROBOTIC GLOVE
• ROBOTIC ARM
• WORKING PRINCIPAL
• TECHNICAL REQUIREMENT
• ARDUINO UNO
• BLUETOOTH MODULE (HC-05)
• FLEX SENSOR
• SERVO MOTOR
• DC MOTORS
• ANDROID BASED MOBILE
• L293D

3. • CIRCUIT DIAGRAM
• RESULTS
• ADVANTAGES AND LIMITATIONS
• CONCLUSION
• FUTURE SCOPE
• REFERENCES

4. INTRODUCTION
• ROBOTICS IS A SPECIAL ENGINEERING SCIENCE WHICH DEALS WITH DESIGNING, MODELLING,
CONTROLLING AND ROBOTS' UTILIZATION. NOWADAYS ROBOTS ACCOMPANY PEOPLE IN
EVERYDAY LIFE AND TAKE OVER THEIR DAILY ROUTINE PROCEDURES.
• THE PAPER FOCUSES ON DESIGN AND IMPLEMENT A ROBOTIC ARM AND CONTROL IT USING A
HUMAN ARM BY MEANS OF HAPTICS TECHNOLOGY. HAPTICS IS ONE OF THE GROWING AREAS
IN HUMAN COMPUTER COLLABORATION WHICH DEALS WITH SENSORY INTERACTION WITH
COMPUTERS.
• RATHER USING TRADITIONAL REMOTE OR KEYBOARD ITS BETTER TO CONTROL A ROBOT WITH
THE HELP OF OUR HAND GESTURE. BECAUSE HAND GESTURE IS VERY NATURAL WAY OF
COMMUNICATION IN OUR HUMAN HISTORY.
• THERE ARE MANY HAND GESTURE TECHNOLOGIES AVAILABLE NOWADAYS BUT ONE OF THE
MOST POPULAR FORM IS ACCELEROMETER BASED HAND GESTURE TECHNOLOGY. THE
ACCELEROMETER CAN MEASURE THE STATIC ACCELERATION OF GRAVITY IN TILT SENSING
APPLICATION, AS WELL AS DYNAMIC ACCELERATION DUE TO MOTION, SHOCK OR VIBRATION.
• OUR PROJECT IS A MODIFIED VERSION AND THE INEXPENSIVE ONE. BEFORE WE STARTED THE
PROJECT WE STUDIED ABOUT A LOT OF HAND GESTURE CONTROLLED ARM AND UNDERSTOOD
THE OPERATION OF THEIR PROJECT.

5. METHODOLOGY
• ROBOTIC GLOVE
ROBOTIC GLOVE HOUSES THE CIRCUITRY WHICH CONTROLS THE ROBOTIC ARM. IT
CONSIST OF FLEX SENSOR AND AN ANDROID PHONE WHICH TRANSFER THE DATA
OF ACCELEROMETER VIA BLUETOOTH 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 ARDUINO.
• ROBOTIC ARM
IT CONSISTS OF TOTAL 3 MOTORS. A MICRO CONTROLLER ARDUINO UNO WHICH
INPUTS THE VALUES FROM THE ANDROID AND FLEX SENSOR AND SENDS THE
DATA ACCORDINGLY TO THE SERVO AND DC MOTORS. WHEN THE GLOVE IS
TILTED IN THE FORWARD DIRECTION OR ANY SUCH DIRECTION, THE ARM
SPONTANEOUSLY FOLLOWS SUIT. THE GRABBER FUNCTIONS WITH THE USE OF
FLEX SENSORS ATTACHED TO CENTRE MOST FINGER.

6. WORKING PRINCIPAL
• THIS WAS A PROJECT BASED ON HAND GESTURE TECHNOLOGY IN ORDER TO
CONTROL A ROBOTIC CAR WIRELESSLY
accelerometer bluetooth Arduino L293d motors
Flex
sensor
arduino
Servo
motor

7. TECHNICAL REQUIREMENTS
• ARDUINO UNO
THE UNO IS A MICROCONTROLLER BOARD BASED
ON THE ATMEGA328P. IT HAS 14 DIGITAL
INPUT/OUTPUT PINS (OF WHICH 6 CAN BE USED
AS PWM OUTPUTS), 6 ANALOG INPUTS, A 16 MHZ
QUARTZ CRYSTAL, A USB CONNECTION, A POWER
JACK, AN ICSP HEADER AND A RESET BUTTON. IT
CONTAINS EVERYTHING NEEDED TO SUPPORT THE
MICROCONTROLLER; SIMPLY CONNECT IT TO A
COMPUTER WITH A USB CABLE OR POWER IT WITH
A AC-TO-DC ADAPTER OR BATTERY TO GET
STARTED.

8. • BLUETOOTH MODULE
BLUETOOTH IS A WIRELESS TECHNOLOGY STANDARD
FOR EXCHANGING DATA OVER SHORT DISTANCES
(USING SHORT-WAVELENGTH UHF RADIO WAVES
FROM 2.4 TO 2.485 GHZ) FROM FIXED AND MOBILE
DEVICES, AND BUILDING PERSONAL AREA NETWORKS
(PANS). RANGE IS APPROXIMATELY 10 METERS (30
FEET).
• FLEX SENSOR
FLEX IS BASICALLY A STRIP OF CARBON MATERIAL
HAVING METAL PADS INSIDE IT. AS THE SENSOR IS
FLEXED, THE RESISTANCE ACROSS THE SENSOR
INCREASES. THE RESISTANCE OF THE FLEX SENSOR
CHANGES WHEN THE METAL PADS ARE ON THE
OUTSIDE OF THE BENDTHIS RESISTANCE WAS
CALIBRATED AND CONVERTED INTO ANGLES AND
FURTHER USED FOR THE FOR THE GRABBING

9. • SERVO MOTOR
A SERVOMOTOR IS A ROTARY ACTUATOR THAT
ALLOWS FOR PRECISE CONTROL OF ANGULAR OR
LINEAR POSITION, VELOCITY AND ACCELERATION. IT
CONSISTS OF A SUITABLE MOTOR COUPLED TO A
SENSOR FOR POSITION FEEDBACK. THESE ARE USED
IN INDUSTRIAL APPLICATIONS, ROBOTICS, IN-LINE
MANUFACTURING, PHARMACEUTICS AND FOOD
SERVICES.
• DC MOTORS
GEARED DC MOTORS CAN BE DEFINED AS AN
EXTENSION OF DC MOTOR A GEARED DC MOTOR
HAS A GEAR ASSEMBLY ATTACHED TO THE MOTOR.
THE SPEED OF MOTOR IS COUNTED IN TERMS OF
ROTATIONS OF THE SHAFT PER MINUTE AND IS
TERMED AS RPM .THE GEAR ASSEMBLY HELPS IN

10. • ANDROID PHONE
HERE WE USED THE SIMPLE ANDROID BASED PHONE.
• L293D
L293D IS A MOTOR DRIVER INTEGRATED CIRCUIT WHICH
IS USED TO DRIVE DC MOTORS ROTATING IN EITHER
DIRECTION. IT IS A 16-PIN IC WHICH CAN CONTROL A SET
OF TWO DC MOTORS SIMULTANEOUSLY. THE L293D USES
5V FOR ITS OWN POWER AND EXTERNAL POWER SOURCE
IS NEEDED TO DRIVE THE MOTORS, WHICH CAN BE UP TO
36V AND DRAW UP TO 600MA.

11. CIRCUIT DIAGRAM

12. RESULTS
• HARDWARE OF THIS PROJECT WAS SUCCESSFULLY EXECUTED UNDER DUE
GUIDANCE OF OUR IN-CHARGE AND SHOWED SUCCESSFUL RESULTS. THE
RESULTS OBTAINED FROM WORKING OF THIS PROJECT HAVE SHOWN THAT THE
PROJECT PERFORMANCE IS QUITE RELIABLE AND EFFICIENT. THE ROBOT
MOVEMENT IS CHECKED AND CONTROLLED BY A HAPTICS GLOVE WEAR BY USER
THAT TRANSMITS DATA TO THE TRANSCEIVER MODULE ATTACHED TO THE
ROBOT.

13. ADVANTAGES AND LIMITATIONS
• ADVANTAGES
• IT ALLOWS INTERACTIVITY IN REAL-TIME WITH VIRTUAL OBJECTS.
• MACHINES DON'T GET TIRED. THEY DON'T CLOSE THEIR EYES. THEY DON'T HIDE
UNDER TREES WHEN IT RAINS AND THEY DON'T TALK TO THEIR BUDDIES. A HUMAN'S
ATTENTION TO DETAIL ON GUARD DUTY DROPS DRAMATICALLY IN THE FIRST 30
MINUTES. MACHINES KNOW NO FEAR.
• CAN BE APPLIED IN REMOTE RURAL AREAS SO AS TO CARRY OUT OPERATIONS.
• CAN BE USED IN MILITARY AREAS WHERE HIGHLY SKILLED DOCTORS MAY NOT BE
PRESENT.
• IN APPLICATION LIKE BOMB DISPOSAL ,THE HUMAN LIFE IS NOT AT RISK.
• LIMITATIONS
• ROBOTS ARE NOT AS SUITABLE FOR MAKING COMPLICATED DECISIONS.
• DEBUGGING ISSUES OF THESE ARE COMPLICATED SINCE THEY INVOLVE REAL-TIME

14. CONCLUSION
• THE PROPOSED SYSTEM IS UTILIZED TO RECOGNIZE THE HUMAN MOTION.
LARGE POTENTIAL FOR APPLICATIONS IN CRITICAL FIELDS AS WELL AS FOR
LEISURELY PLEASURES. HAPTIC DEVICES MUST BE SMALLER SO THAT THEY ARE
LIGHTER, SIMPLER AND EASIER TO USE HAPTIC TECHNOLOGY ALLOWS
INTERACTIVITY IN REAL-TIME WITH VIRTUAL OBJECTS.

15. FUTURE SCOPE
• RESEARCH IS GOING ON TO USE BRAIN SIGNALS TO CONTROL THE ROBOTIC
ARM. THIS, IF ACHIEVED WILL BE OF GREAT HELP TO THE PHYSICALLY
HANDICAPPED. CURRENTLY UNDER RESEARCH IS THE CLOTHING RETAIL
INDUSTRY WHICH WILL HELP THE USERS TO FEEL THE TEXTURE OF THE CLOTHES
ON THE INTERNET.

16. REFERENCES
• VIPUL J. GOHIL, DR. S D. BHAGWAT, “ROBOTICS ARM CONTROL USING HAPTIC
TECHNOLOGY , INTERNATIONAL JOURNAL OF LATEST RESEARCH IN SCIENCE
AND TECHNOLOGY ISSN ONLINE):2278-5299 VOLUME 2,ISSUE 2 :PAGE NO.98-
102 , MARCH - APRIL (2013).
• MIR GULAM MOHIN UDDIN, MD.ABU BAKKAR CHIDDIK, TANBIR BAKTH NABIL,
EMAD UDDIN AHMED, “DESIGN AND IMPLEMENTATION OF ROBOTIC VEHICLE
CAN BE CONTROLLED USING HAND GESTURE”, ISSN (ONLINE): 2347-3878
VOLUME 3 ISSUE 3, MARCH 2015 .
• YOUTUBE.COM
• WIKIPEDIA

17. THANK YOU