Wireless movement system for a 3D printed robotic hand

Abstract

In this research, we designed and implemented a robotic system in the form of a wirelessly controlled hand, which is one of the applications of robotic systems specialized in the medical field. Its mission is to imitate the movements of a glove worn by the user, that is, to imitate natural human hand gestures, which are considered an information base for the implemented robotic system, and to verify From the ability and efficiency of the robotic hand to respond to these incoming signals, the control glove consists of an Arduino nano microcontroller and five flexibility sensors to sense the curvature of the fingers in addition to an nRF24L01 transmitter-receiver circuit and an external 9V power source, which is transmitted by the glove using the transmitter and receiver unit to the robotic arm. Printed through a 3D printer, which receives and processes this signal to determine how to move based on the executed gesture. As for the robotic hand, it was composed of parts manufactured by a 3D printer, where the shape was designed using the program GrabCAD, which contains an open source library 3D CAD Model Library. And five servo motors, where each finger had its own servo motor. The design of the robotic hand showed a good ability to imitate the movements of a control glove without noticeable delay, and it was able to pick up various objects. The parts were designed and assembled from locally available materials, and the circuits were manufactured from elements available in the local market. The results indicated the possibility of improving the ability to grasp objects with hard surfaces, by providing additional degrees of freedom for the fingers. This arm could be an innovative solution for people who suffer from movement deficits, such as people who suffer from upper paralysis or who cannot hold objects. Well. In addition, it can be used by all individuals, as it does not require specific measurement, and another important advantage is that it does not consume much energy.