Abstract: Haptics is the science of applying touch sensation and control for interaction with virtual or physical application. In this project, our aim is to make a robotic arm that will copy the actual movements of a human hand. Motion of the hand will vary the potentiometer resistance which is placed on the human arm. This change in resistance produces an equivalent output voltage which is given to the microcontroller. The microcontroller converts this analog signal to digital and produces corresponding PWM signals which are required for the servomotors on the robotic arm to run. Servomotors are connected to the receiver microcontroller. PWM pulses are sent to the receiver controller. The hardware of this project is very user friendly, portable, easy to handle and also very light in weight. It has a very simple design and also very easy to assemble. We have used 5 Degrees of Freedom i.e. Shoulder, Elbow, Wrist and Finger
Haptic gloves controlled robotic arm using MEMS accelerometerijiert bestjournal
Robots of the current generation have been used in fields isolated from the human society. The definitions of robotics are numerous and varied,ultimately they all deal with a labour - saving machine that with increasing technological capabilities gets clos er and closer to human mechanical and mental capabilities. In order to represent the robotic technology in the field of human - machine interaction and wireless communication for allows interactivity in real - time with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to help people do their work in an efficient way in their day to day life . The main objective of the project is to design and develop the Robot that is used to move using wireless sys tem by recognizing hand motion that is controlled by haptics technology for virtual environment & human - machine systems capable of haptic interaction.
The project aims to design and implement a cost effective and an affordable prototype model of robotic hand for telesurgery using haptic technology. The movements of the robotic palmare 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.
A Digital RPM Meter is a measuring instrument which can measure the rotational speed of a rotary machine digitally. In industries we can use this type of digital tachometers which will reduce human effect. The industrial name of this instrument is “Tachometerâ€. It is an important measuring device in the field of electrical engineering and widely used in industries and laboratorial work. Here we are going to design an Aurdino based digital tachometer using IR sensor module to detect object for count rotation of any rotating body and the programming is given by the FTDI programmer. As IR transmits IR rays which reflect back to IR receiver and then IR Module generates an output or pulse which is detected by the aurdino controller when we press start button. It counts continuously for 5 seconds. After 5 seconds aurdino calculate RPM for a minute using given formula. Here we demonstrate this project using ceiling fan. A. Sriharsha Kumar | Ch. Venkatesh | K. V. Durga Prasad | S. Balaji ""Digital Tachometer using Aurdino"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23223.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/23223/digital-tachometer-using-aurdino/a-sriharsha-kumar
Haptic gloves controlled robotic arm using MEMS accelerometerijiert bestjournal
Robots of the current generation have been used in fields isolated from the human society. The definitions of robotics are numerous and varied,ultimately they all deal with a labour - saving machine that with increasing technological capabilities gets clos er and closer to human mechanical and mental capabilities. In order to represent the robotic technology in the field of human - machine interaction and wireless communication for allows interactivity in real - time with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to help people do their work in an efficient way in their day to day life . The main objective of the project is to design and develop the Robot that is used to move using wireless sys tem by recognizing hand motion that is controlled by haptics technology for virtual environment & human - machine systems capable of haptic interaction.
The project aims to design and implement a cost effective and an affordable prototype model of robotic hand for telesurgery using haptic technology. The movements of the robotic palmare 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.
A Digital RPM Meter is a measuring instrument which can measure the rotational speed of a rotary machine digitally. In industries we can use this type of digital tachometers which will reduce human effect. The industrial name of this instrument is “Tachometerâ€. It is an important measuring device in the field of electrical engineering and widely used in industries and laboratorial work. Here we are going to design an Aurdino based digital tachometer using IR sensor module to detect object for count rotation of any rotating body and the programming is given by the FTDI programmer. As IR transmits IR rays which reflect back to IR receiver and then IR Module generates an output or pulse which is detected by the aurdino controller when we press start button. It counts continuously for 5 seconds. After 5 seconds aurdino calculate RPM for a minute using given formula. Here we demonstrate this project using ceiling fan. A. Sriharsha Kumar | Ch. Venkatesh | K. V. Durga Prasad | S. Balaji ""Digital Tachometer using Aurdino"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23223.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/23223/digital-tachometer-using-aurdino/a-sriharsha-kumar
Technology, is today, imbibed for accomplishment of several tasks of varied complexity, in almost all walks of life. The society as a whole is exquisitely dependent on science and technology. Technology has played a very significant role in improving the quality of life. One way through which this is done is by automating several tasks using complex logic to simplify the work.Gesture recognition has been a research area which received much attention from many research communities such as human computer interaction and image processing The keyboard and mouse are currently the main interfaces between man and computer. In other areas where 3D information is required, such as computer games, robotics and design, other mechanical devices such as roller-balls, joysticks and data-gloves are used. The main motto of this project is to make robot realize the human gesture, thereby it bridge the gap between robot and human. Human gesture enhances human-robot interaction by making it independent from input devices. Robotic system can be controlled manually, or it may be autonomous. Robotic hand can be controlled remotely by hand gesture. Research in this field has taken place, sensing hand movements and controlling robotic arm has been developed.
Hand movement controlled robotic vehicle which can be controlled by simple gestures. The user just needs to wear a gesture device which includes a sensor. The sensor will record the movement of hand in a specific direction which will result in the movement of the robot in the respective direction. The robot and the Gesture device are connected wirelessly via radio waves. The wireless communication enables the user to interact with the robot in a more friendly way.
A workshop to introduce everyone to manual robots, autonomous robots and robotic circuits while delving into the world of IoT with fun quiz segments and prizes.
According to the World Federation of the Deaf, only 10 percent of the worlds Deaf population receives any education, and only 3 percent receives this education in sign language. Another problem these deaf and face is inability to communicate with a person who does not understand the sign language. This project aims to reduce these problems by presenting a Sign Language. The project uses a hepatic glove to acquire signals corresponding to various hand gestures. The glove is interfaced with robot using an Arduino. Accelerometers are used to measure the angular displacement of human hand motion .The accelerometer controls the movement of the robot. Device is made of mainly two parts, one is RF transmitter and another is RF receiver. The RF transmitter will transmit the signal according to the position of accelerometer attached on your hand and the RF receiver will receive the signal and make the robot move in respective direction. Deepanshu Kiran | Himanshu Singh | Kushal Kant Singh Saxeriya ""Gesture Control Robot using Arduino"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23411.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/23411/gesture-control-robot-using-arduino/deepanshu-kiran
it is basically a model for wheelchair.for physically handicapped persons it will be very useful.the robot uses a accelerometer sensor for the movement of the robot, so that sensor is installed on the transmitter section and the thing you should wear on your arm.on the receiver side microcontroller is present which will decode the data.
Contactless digital tachometer using microcontroller IJECEIAES
Tachometer is a device that used for counting or for the measuring purpose of the number of revolutions (that is the total number rotations made by the device in unit of measuring time) of an object in unit time. It is expressed in the unit of RPS or RPM, the model uses a set of infrared transducer receiver to count the RPM pulses, and the Arduino microcontroller is used for the implementation of the project. The individual pulses are counted by the microcontroller to give the final output of the RPM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Technology, is today, imbibed for accomplishment of several tasks of varied complexity, in almost all walks of life. The society as a whole is exquisitely dependent on science and technology. Technology has played a very significant role in improving the quality of life. One way through which this is done is by automating several tasks using complex logic to simplify the work.Gesture recognition has been a research area which received much attention from many research communities such as human computer interaction and image processing The keyboard and mouse are currently the main interfaces between man and computer. In other areas where 3D information is required, such as computer games, robotics and design, other mechanical devices such as roller-balls, joysticks and data-gloves are used. The main motto of this project is to make robot realize the human gesture, thereby it bridge the gap between robot and human. Human gesture enhances human-robot interaction by making it independent from input devices. Robotic system can be controlled manually, or it may be autonomous. Robotic hand can be controlled remotely by hand gesture. Research in this field has taken place, sensing hand movements and controlling robotic arm has been developed.
Hand movement controlled robotic vehicle which can be controlled by simple gestures. The user just needs to wear a gesture device which includes a sensor. The sensor will record the movement of hand in a specific direction which will result in the movement of the robot in the respective direction. The robot and the Gesture device are connected wirelessly via radio waves. The wireless communication enables the user to interact with the robot in a more friendly way.
A workshop to introduce everyone to manual robots, autonomous robots and robotic circuits while delving into the world of IoT with fun quiz segments and prizes.
According to the World Federation of the Deaf, only 10 percent of the worlds Deaf population receives any education, and only 3 percent receives this education in sign language. Another problem these deaf and face is inability to communicate with a person who does not understand the sign language. This project aims to reduce these problems by presenting a Sign Language. The project uses a hepatic glove to acquire signals corresponding to various hand gestures. The glove is interfaced with robot using an Arduino. Accelerometers are used to measure the angular displacement of human hand motion .The accelerometer controls the movement of the robot. Device is made of mainly two parts, one is RF transmitter and another is RF receiver. The RF transmitter will transmit the signal according to the position of accelerometer attached on your hand and the RF receiver will receive the signal and make the robot move in respective direction. Deepanshu Kiran | Himanshu Singh | Kushal Kant Singh Saxeriya ""Gesture Control Robot using Arduino"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-3 , April 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23411.pdf
Paper URL: https://www.ijtsrd.com/engineering/electrical-engineering/23411/gesture-control-robot-using-arduino/deepanshu-kiran
it is basically a model for wheelchair.for physically handicapped persons it will be very useful.the robot uses a accelerometer sensor for the movement of the robot, so that sensor is installed on the transmitter section and the thing you should wear on your arm.on the receiver side microcontroller is present which will decode the data.
Contactless digital tachometer using microcontroller IJECEIAES
Tachometer is a device that used for counting or for the measuring purpose of the number of revolutions (that is the total number rotations made by the device in unit of measuring time) of an object in unit time. It is expressed in the unit of RPS or RPM, the model uses a set of infrared transducer receiver to count the RPM pulses, and the Arduino microcontroller is used for the implementation of the project. The individual pulses are counted by the microcontroller to give the final output of the RPM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Voice Controlled Wheel chair is a mobile wheel chair whose motions can be controlled by the user by giving specific voice commands. The speech recognition software running on a PC is capable of identifying the 5 voice commands ‘Run’, ‘Stop’, ‘Left’, ’Right’ and ‘Back’ issued by a particular User. This system controls the wheel chair as well as read the parameters of patient.
Design and operation of synchronized robotic armeSAT Journals
Abstract The paper manuscript deals with the designing and implementation of Synchronized Robotic Arm, which is used to perform all the basic activities like picking up objects and placing them. In this paper, a robotic arm is designed, synchronized with the working arm and would perform the task as the working arm does. The work done by the robotic arm would be highly precise, as a digital servo motor is used. A servo motor of 230 oz-inch is used in the project, but motors with more capacity can also be used as according to the desired work. This robotic arm can also be used for precision works. For instance some work has to be done very precisely but the conditions do not suit human beings. In such conditions, this robotic arm can be used remotely and the task can be accomplished. The programming is done on ATMEGA-8 Microcontroller using Arduino programming. The potentiometers are also used to detect the angle of rotation and the signals are then sent to the microcontroller. In today’s world, this Robotic arm has turned out very benevolent. Besides Robotics and Automation, these kinds of arms have applications in other fields also. Keywords –Arduino, ATMEGA-8, IC, Potentiometers, Servo Motors
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
ArduinoBased Head GestureControlled Robot UsingWireless CommunicationIJERA Editor
This paper describes the robustness of ardiuno based head movement controlled robot. This robot is controlled using motion sensor which is mounted on the head. In future there is need of robots which can be used to ease the human tasks and interact with the human easily. Our objective is to control the robot using head gesture. Accelerometer is used to detect the direction of head movement. In order to full-fill our requirement a program has been written and executed using a microcontroller system. By observing the results of experimentation our gesture formula is very competent and it’s also enhance the natural way of intelligence and also assembled in a simple hardware circuit.
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A haptic feedback system based on leap motion controller for prosthetic hand ...IJECEIAES
Leap motion controller (LMC) is a gesture sensor consists of three infrared light emitters and two infrared stereo cameras as tracking sensors. LMC translates hand movements into graphical data that are used in a variety of applications such as virtual/augmented reality and object movements control. In this work, we intend to control the movements of a prosthetic hand via (LMC) in which fingers are flexed or extended in response to hand movements. This will be carried out by passing in the data from the Leap Motion to a processing unit that processes the raw data by an opensource package (Processing i3) in order to control five servo motors using a microcontroller board. In addition, haptic setup is proposed using force sensors (FSR) and vibro-motors in which the speed of these motors is proportional to the amount of the grasp force exerted by the prosthetic hand. Investigation for optimal placement of the FSRs on a prosthetic hand to obtain convenient haptic feedback has been carried out. The results show the effect of object shape and weight on the obtained response of the FSR and how they influence the locations of the sensors.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Quality defects in TMT Bars, Possible causes and Potential Solutions.PrashantGoswami42
Maintaining high-quality standards in the production of TMT bars is crucial for ensuring structural integrity in construction. Addressing common defects through careful monitoring, standardized processes, and advanced technology can significantly improve the quality of TMT bars. Continuous training and adherence to quality control measures will also play a pivotal role in minimizing these defects.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Vaccine management system project report documentation..pdfKamal Acharya
The Division of Vaccine and Immunization is facing increasing difficulty monitoring vaccines and other commodities distribution once they have been distributed from the national stores. With the introduction of new vaccines, more challenges have been anticipated with this additions posing serious threat to the already over strained vaccine supply chain system in Kenya.
Democratizing Fuzzing at Scale by Abhishek Aryaabh.arya
Presented at NUS: Fuzzing and Software Security Summer School 2024
This keynote talks about the democratization of fuzzing at scale, highlighting the collaboration between open source communities, academia, and industry to advance the field of fuzzing. It delves into the history of fuzzing, the development of scalable fuzzing platforms, and the empowerment of community-driven research. The talk will further discuss recent advancements leveraging AI/ML and offer insights into the future evolution of the fuzzing landscape.
A 5 Degree Feedback Control Robotic Arm (Haptic Arm)
1. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 75
Paper Publications
A 5 Degree Feedback Control Robotic Arm
(Haptic Arm)
1
Prof. Sheetal Nirve, 2
Mr.Abhilash Patil, 3
Mr.Shailesh Patil, 4
Mr.Vishal Raut
Abstract: Haptics is the science of applying touch sensation and control for interaction with virtual or physical
application. In this project, our aim is to make a robotic arm that will copy the actual movements of a human
hand. Motion of the hand will vary the potentiometer resistance which is placed on the human arm. This change in
resistance produces an equivalent output voltage which is given to the microcontroller. The microcontroller
converts this analog signal to digital and produces corresponding PWM signals which are required for the
servomotors on the robotic arm to run. Servomotors are connected to the receiver microcontroller. PWM pulses
are sent to the receiver controller. The hardware of this project is very user friendly, portable, easy to handle and
also very light in weight. It has a very simple design and also very easy to assemble. We have used 5 Degrees of
Freedom i.e. Shoulder, Elbow, Wrist and Finger
Keywords: Atmega 16L, Potentiometers.
1. INTRODUCTION
Robots of the current generation have been used in fields isolated from the human society. They suffer major
shortcomings because of their limited abilities for manipulation and interaction with humans. In order to represent the
robotic technology in the field of human-machine interaction and wire communication for allows interactivity in real-time
with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to
help people do their work in an efficient way in their day to day life. The main objective of the project is to design and
develop the Robot that is used to move using wire system by recognizing hand motion that is controlled by haptic
technology for virtual environment & human-machine systems capable of haptic interaction. Without risking human life
or limb, this research has applications in many areas, including robot assisted surgery, simulation and training,
rehabilitation, exploration of hazardous or remote environments, enabling technologies, manufacturing, design, mobile
computing, and education.
2. HAPTICS TECHNOLOGY
As the research progressed, robots were recognized not only as simple action performer but as a machine that have diverse
and variety of purposes and usages. The report focuses on design and implements a robotic arm and control it using a
human arm by means of haptics technology. Haptics is the science of applying touch Sensation and control for interaction
with virtual or physical applications. Haptics is one of the growing areas in human-computer collaboration which deals
with sensory interaction with computers. The word haptic is derived from the Greek word haptikos which means
pertaining to the sense of touch. Haptic is used in engineering systems to create virtual environment. It is a tactile
feedback technology which takes advantage of sense of touch by applying motions, vibrations or forces to the user.
Haptics can be divided into three areas:
A. Human haptics - the study of human sensing and its control through touch.
B. Machine haptics - the design, construction, and the use of machines to replace or augment human touch.
C. Computer haptics - algorithms and software associated with generating the touch and feel of virtual objects.
2. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 76
Paper Publications
The basic idea is the sensors on the haptic device work as transducers and converts hand motions into electrical signals.
These hand movements can be replicated using a robotic arm. Our research is devoted to developing the principles and
tools needed to realize advanced robotic and human-machine systems capable of haptic interaction.
3. BLOCK DIAGRAM
Fig1: Block Diagram
At the transmitter side, we are going to connect the sensors to sense the haptic movements. So to sense the haptic
movements we are using potentiometer as a sensor. Potentiometers will change its output voltage as the haptic movement
is sensed And the output of potentiometer is converted into its equivalent electrical form and given to the
microcontroller.Controller output is given to servo motor and robotic arm is moved accordingly.
Microcontroller (ATmega16)
The ATmega16 is a low-power CMOS 8-bit microcontroller based on the AVR enhanced RISC architecture. By
executing powerful instructions in a single clock cycle, the ATmega16 achieves throughputs approaching 1 MIPS per
MHz allowing the system designed to optimize power consumption versus processing speed.
Basic features:
High-performance, Low-power Atmel AVR 8-bit Microcontroller.
Advanced RISC Architecture
–131 Powerful Instructions
–Most Single-clock Cycle Execution
–32 x 8 General Purpose Working registers.
–Fully Static Operation
–Up to 16 MIPS Throughput at 16 MHz
Peripheral Features
- Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
- One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode
- Four PWM Channels
- 10-bit ADC, 8 Single-ended Channels
- On-chip Analog Comparator.
3. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 77
Paper Publications
The ATmega16 provides the following features: 16 Kbytes of In-System Programmable Flash Program memory with
Read-While-Write capabilities, 512 bytes EEPROM, 1 Kbyte SRAM, 32 general purpose I/O lines, 32 general purpose
working registers, a JTAG interface for Boundary scan, On-chip Debugging support and programming, three flexible
Timer/Counters with compare modes, Internal and External Interrupts, a serial programmable USART, a byte oriented
Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional differential input stage with programmable gain
(TQFP package only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, and six software
selectable power saving modes.
4. SENSORS
Potentiometers are used as a sensor to trace the movement of the hand. Here 5 motions are given to the arm hence using
5 pots as described below:
a. Shoulder Sensor:
The voltage at the variable terminal of the pot varies according to the movement of the shoulder. There are 2 shoulder
movements; one is up-down and other is slide movement. So for these 2 movements 2 pots are used.
b. Elbow Sensor:
The voltage at the variable terminal of the pot varies according to the bending of the elbow.
c. Wrist Sensor:
The voltage at the variable terminal of the pot varies according to the rolling movement of the wrist.
d. Finger Sensor
The voltage at the variable terminal of the pot varies according to the grabbing movement of the finger.
5. SERVO MOTOR CONTROL
The servo can be commanded to rotate to a particular angle (say 30) and then hold the shaft there. Servos also employ a
feedback mechanism, so it can sense an error in its positioning and correct it. This is called servomechanism.
Fig2: Block Diagram of Servo Mechanism
Controlling a servo is easy by using a microcontroller, no external driver like are required. Just a control signal is needed
to be feed to the servo to position it in any specified angle. A pulse width modulated (PWM) signal is applied as a control
signal. It is then converted to equivalent voltage. This voltage and the output from the position sensor is compared using
error amplifier. In this way the feedback from the shaft of the motor controls the rotation of the motor. The time period of
PWM signal should lie between 14 ms to 20 ms and the ON time should lie between 1ms to 2ms. The width of positive
pulse (ON time) controls the angle. Controlling a servo is easy by using a microcontroller, no external driver like are
required. Just a control signal is needed to be feed to the servo to position it in any specified angle. A pulse width
modulated (PWM) signal is applied as a control signal. It is then converted to equivalent voltage. This voltage and the
output from the position sensor is compared using error amplifier. In this way the feedback from the shaft of the motor
controls the rotation of the motor.
4. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 78
Paper Publications
Fig3: PWM signal servo control.
A pulse width modulated (PWM) signal is applied as a control signal. It is then converted to equivalent voltage. This
voltage and the output from the position sensor is compared using error amplifier. In this way the feedback from the shaft
of the motor controls the rotation of the motor.
The width of positive pulse (ON time) controls the angle. Servo motors are capable of rotating between 0 and 180
degrees. Every servo motor has fixed ON time and OFF time for particular angle.
For Servo MG-995, the ON time and corresponding angles are:
0.800ms = 0 degree.
1.264ms = 90 degrees. (neutral position)
2.54ms = 180 degrees.
6. CIRCUIT DIAGRAM
Fig.4: Circuit Diagram
5. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 79
Paper Publications
7. HAPTIC ROBOTIC ARM
Fig5: Robotic Arm
Fig6: Haptic Robotic Arm Assembly
8. SOFTWARE USED
Atmel Studio is the integrated development platform (IDP) for developing and debugging Atmel AVR microcontroller-
(MCU) based applications. The Atmel Studio gives you a seamless and easy-to-use environment to write, build and debug
your applications written in C/C++ or assembly code.
6. ISSN 2349-7815
International Journal of Recent Research in Electrical and Electronics Engineering (IJRREEE)
Vol. 2, Issue 1, pp: (75-80), Month: January - March 2015, Available at: www.paperpublications.org
Page | 80
Paper Publications
9. CONCLUSION
In this project a robotic arm has been designed and controlled using haptics. We tested the angle of servo motor by
changing the output resistance of the potentiometer. This result information of the pot angle (sensor output) and servo
angle (actual output) and for what angle the pulse should be ON. So we controlled the angle of DC motor with respect to
the output of the sensor (potentiometer).
Human safety is prior consideration in designing this project.
REFERENCES
[1] ROBOTICS ARM CONTROL USING HAPTIC TECHNOLOGY Vipul J. Gohil, Dr. S D. Bhagwat, Amey P.
Raut, Prateek R. Nirmal.
[2] Design and Implementation of A Robotic Arm Based On Haptic Technology A. Rama Krishna, G. Sowmya Bala,
A.S.C.S. Sastry, B. Bhanu Prakash Sarma, Gokul Sai Alla.
[3] “Surgical Robot Teleoperated Laparoscopic Grasper with Haptics Feedback system, Apu Sarmah, U.D.Gulhane.
[4] “Universal haptic drive: A robot for arm and wrist rehabilitation, Jakob Oblak.
[5] “Design of a Haptic Arm Exoskeleton for Training and Rehabilitation, Abhishek Gupta.