Remote Controlled Haptic Robot Arm
Nowadays, technology is
developing rapidly in the world. The world today is accelerating the
development of more intelligent artificial robot arms for factories and
industries. It is an important part of the development of technology, it can
reduce manpower, can do a lot of work, fast and easy to manage. Especially in
the health sector, people with disabilities or difficulty in moving. Scientists
have created a robot arm that can track the natural movement of the human arm
that addition to a speedometer. The robot arm in this project is based on the
Arduino UNO or MEGA and Arduino Nano or ATmega328 platforms, as well as
personal computers for signal processing, all of which are connected via serial
communication. Finally, the robot arm model is expected to solve problems with
lifting or picking up objects far from the controller, and it can transmit the
signal level that touches or grabs the object back to the controller as well.
It can also be used in situations where very heavy object movement between
locations or automation is necessary in many industries.
Keywords: Robot Arm, Wearable Robot Arm, Haptic Technology, Bluetooth, Arduino Uno, Arduino Nano, Rotary Potentiometer, Pressure Sensor, Flexible Sensor.
TABLE OF CONTENTS
2.2.2 Structure
of the Robot Arm
2.3 Review
of the Wearable Robot Arm
2.4 Review of the Haptic Technology
CHAPTER 3 MATERIALS AND METHODS
3.1.7 Flexible Pressure Sensor
3.2 Design of Remoted Robot Arm System
3.2.1 Structure
of Remoted Robot Arm
3.2.2 Structure of Wearable Robot Arm
3.4 Communication between Two Devices
3.4.1
Communication of Controlling Remoted Robot Arm
3.4.2
Communication of Controlling Wearable Robot Arm
3.4.3
Communication of the Haptic Robot Arm
4.1 Testing Rotary Potentiometer
4.4 Transceiver Data via Bluetooth Module
4.5 Result of Testing Remoted Robot Arm
4.6 Result
of Testing Wearable Robot Arm
4.7 Result of Testing Haptic Robot Arm
CHAPTER 5 CONCLUSION AND FUTURE WORK
CHAPTER 1: INTRODUCTION
1.1 Robot Arm
A robot arm is a
type of robot, whose feature is similar to a human arm. It is used in various
fields such as product manufacturing, medical care, service, and
education. In particular, it has a major
role in improving the product quality and productivity of factories [1].
It is composed of
various actuators, bodies, and joints.
Depending on the needs of the field, various robot arms with the
behavior of simple 4-axis to more complex 6-axis are being used. Fig. 1 shows
an example of a 6-DOF robot arm. It needs six joints to imitate the motion of a
human arm. Each joint can rotate around its rotating axis which has limited as
shown in Fig. 1 [2][3].
1.2 Wearable Robot
Arm
Wearable robots
are devices that are worn on the body and are designed to interact with the
environment and assist the wearer in various tasks. They have a wide range of
applications in different fields such as healthcare, manufacturing, and the
military. Some of the applications of wearable robots include rehabilitation,
assistance for people with disabilities, and augmentation of human
capabilities.
The technology
behind wearable robots is still evolving. In general, the design of wearable
robots is based on the principles of biomechanics and robotics. Wearable robots
consist of lightweight and flexible materials to ensure that they do not
interfere with the wearer’s movements. Their sensors are designed to detect the
wearer’s movements and provide feedback to the control system [4].
A wearable robot arm is a part of wearable robots. It is
equipped on an upper extremity to control the motion of the robot arm which is
produced from the natural style of motion. Its shape and motion are similar to
the human arm. Its behavior is used to control the motion of the robot arm and
make sure that the robot arm has motions following the controller. It was
equipped with some important sensors that can get the data to control the
motions of a robot arm [5].
Fig. 2 shows an example of a wearable robot arm. It is equipped with a human
arm to control the motion of the robot arm [5].
Figure 2. 3D Wearable Robot Arm [5].
1.3 Haptic
Technology
Haptic technology
is a tactile feedback technology that interacts with digital information using
the sense of touch. Haptics means tactile or pertaining to touch in Greek [6].
Haptic technology was first proposed in the 1970s and was first used in servo
mechanism systems to prevent stalling hazards in large aircraft [7].
Haptic technology
is not such an unfamiliar technology these days. When smartphones are widely
used by the public. This is because the vibration that occurs when touching the
screen of a smartphone comes from haptic technology. Haptic technology is
widely used in various fields such as games, medical applications, product
design, and industrial education [8]. Fig. 3 shows the
communication haptic technology of the robot arm and wearable robot arm [9].
Figure 3. Communication Haptic Technology of Robot Arm and
Wearable Robot Arm [9].
2.1 History
In the early days
applications of robot arm technology have been spreading rapidly. In the late
1930s that it was introduced. It developed a “Sprayer” until the present, it
continues developing rapidly by including artificial intelligence technology
and machine learning. Today, it continues the development of robot arms created
or developed by many famous authors, companies, professors, and universities.
They are researching new technology to improve it [10].
Wearable robot arms have developed rapidly in the last decade 1960s. It
was proposed and has demonstrated its ability to assist humans in a variety of
industrial, military, Internet of Things (IoT), and medical applications.
Currently, it is developing and entering new technology and created many
devices for applying other applications [11].
Haptic technologies are not different from
robot arms or wearable robots. It has developed rapidly in the last decade and
1970s proposed and has demonstrated its ability to assist humans in a variety
of games, and medical applications. Today, researchers continue to update,
enter new technology, and research new technology every day. It is entered on
many devices that we use every day such as communication of robots, finger
scans on smartphones, the vibration of smartphones, computers, etc. [5].
2.2
Review of the Robot Arm
The robot arm is
one of the mechanical systems, which is usually programmable and has similar
functions to a human arm. it has a 6-DOF robot arm to be tested that is made of
6 servo motors with base system rotation, shoulder rotate, elbow rotation,
wrist pitch rotation, wrist roll rotation, and gripper rotation. The servo
motor can be controlled to move any position of the robot arm.
2.2.1 Various Robot Arm
The present, it is
developing rapidly including artificial intelligence technology and machine
learning. It is researched and created into different types that can apply
different areas too. It can apply in server areas such as the factorial,
industrial, services, healthcare, and medical. Industrial robot arms are
designed to operate with a range of motion that mimics or is similar to the
human arm [12]. It can help many works. It helps decrease the people’s forces,
numbers of people, fast work, spend a short time, and spend money less as shown
in Fig. 4 (a) [16] and Fig. 4 (b) [17]. In the Fig. 5 shows the applications of
robot arm. The robot arm popular in the service industry is the Collaborative
robot arm as shown in Fig. 5 (a) [18]. It is designed to work with humans and
can be used for tasks such as cooking, packaging, assembly, customer food services,
security, and checking quality control in industries such as food
processing, and electronics manufacturing [13].
The use of robot
arms in healthcare has the potential to improve personal outcomes [14], help to
strengthen the person's physical fitness, protect against various diseases, and
also provide medical professionals with the tools they need to provide
high-quality care. The physiotherapist’s robot arm is one of the most common
types of robot arms for healthcare as shown in Fig. 5 (b) [14]. Medical robot
arm is a robot that is designed specifically for use in medical science. It is
typically used in surgical operations to assist with precise and complex
methods. Often it is used as a surgeon's assistant. It can also be used for
other medical purposes, such as patient rehabilitation, radiation therapy, and
diagnostic imaging. Many robot arms apply in medical including surgical robot
arms as shown in Fig. 5 (c) [15].
Figure 4. Before and After using the Robot Arm [16][17].
Figure 5. Applications of Robot Arm [18].
2.2.2 Structure of the Robot Arm
The structure of
the 6-DOF robot arm is shown in Fig. 6. It is shown six rotation joints and
seven links to the robot arm [19].
Figure 6. Structure of the 6-DOF Robot Arm [19].
2.3
Review of the Wearable Robot Arm
Wearable robot
arms is a devices that wear on the body to control or support anything. It is
connected with sensors, vibration, etc. There are many types of designing and
creating following designers’ ideas such as 3D modeling, metal, plastic, etc.
It is used in different applications such as technology, healthcare, medical,
military, etc. It has many devices that they use in their applications.
Wearable robots
have been globally developed to support the walking of patients that have
spinal cord injuries (SCI). It is popular and a robotic-assisted gait. It has
been equipped on patients’ bodies to facilitate moving. It also helps patients
exercise. There are many devices of wearable robots that we used including
health, tracking, chronic disease management, interactive gaming, performance
monitoring, navigation tracking, smartwatch, smartphone, VR headsets, AI
hearing aids, robot arms, etc. [20] as shown in Fig. 7 [21]. It shows devices of wearable
robots on the body.
Figure 7. Devices of Wearable Robots [21].
2.4
Review of the Haptic Technology
A haptic device is
a type of input/output device that allows the user to interact with a computer
through the sense of touch. There are many different types of sensors and
actuators to create the sense of touch, such as various pressure sensors, gyro
sensors, accelerometers, electrostatic sensors, and rotary potentiometers. The
sensors detect the user’s movements and the actuators provide feedback in
response to those movements.
Haptic feedback is
critical to controlling the target device according to the user's needs. There
are different types of haptic feedback such as vibrations, pressure, and
temperature changes. Haptic feedback generally can be used to simulate the
sense of touch in virtual environments or to provide tactile feedback in
real-world applications.
Devices that
typically use haptic technology include gloves, exoskeletons, and portable
devices. Haptic gloves are wearable devices that provide tactile feedback to
the user’s hands. They are used in virtual reality applications to simulate the
sense of touch. Exoskeletons are wearable robots that provide haptic feedback
to the user’s limbs. They are used in medical applications for rehabilitation
and physical therapy. Handheld devices such as smartphones and tablets use
haptic technology to provide tactile feedback when typing or interacting with
digital information. Fig. 8 shows schematic of the proposed master-slave robot
[22]. The controller sends the force command to the bionic hand (slave) based
on the signal from the glove-mounted tactile sensors.
Figure 8. Schematic of the Proposed Master-Slave Robot [22].
CHAPTER 3: MATERIALS AND METHODS
3.1
Components and Datasheets
3.1.1 Arduino Uno
Arduino Uno is a
microcontroller board based on the ATmega328. It has 14 digital input/output
pins which 6 pins are used as PWM outputs, 6 analog inputs, a 16 MHz ceramic
resonator, 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 with an AC-to-DC adapter or battery to
get started [23]. Fig. 9 shows Arduino Uno.
Table 1 shows the specification of Arduino Uno.
Figure 9. Arduino Uno [23].
Table 1. Specification of Arduino Uno
3.1.2 Arduino Nano
The Arduino Nano
is a small, complete, and breadboard-friendly board based on the ATmega328
(Arduino Nano 3. x). It has more or less the same functionality as the Arduino
Duemilanove but in a different package. It lacks only a DC power jack and works
with a Mini-B USB cable instead of a standard one [24]. Fig. 10 shows Arduino Nano. Table 2 shows the
specification of Arduino Nano.
Figure 10. Arduino Nano [24].
Table 2. Specification of Arduino Nano
3.1.3 Servo Motors
MG995 Servo
Motor
MG995 Metal Gear
Servo Motor is a high-speed standard servo that can rotate approximately 180
degrees (60 in each direction) used for airplanes, helicopters, RC cars, and
many RC models. Provides 10kg/cm at 4.8V, and 12kg/cm at 6V. It is a Digital
Servo Motor that receives and processes PWM signals faster and better. It
equips sophisticated internal circuitry that provides good torque, holding
power, and faster updates in response to external forces. They are packed
within a tight sturdy plastic case which makes them water and dust resistant
which is a very useful feature in RC planes, Boats, RC Monster Trucks, etc. It
equips a 3-wire JR servo plug which is compatible with Futaba connectors too [25].
Fig. 11 shows MG995 Servo Motor. Table 3 shows the specification of the MG995
Servo Motor.
Figure 11. MG995 Servo Motor [25].
Table 3. Specification of
MG995 Servo Motor
MG90s Servo
Motor
MG90S is a micro
servo motor with metal gear. This small and lightweight servo comes with high
output power, thus ideal for RC airplanes, quadcopters, or Robotic Arms. It is
a type of motor that can rotate with great precision. Normally this type of
motor consists of a control circuit that provides feedback on the current
position of the motor shaft, this feedback allows the servo motors to rotate
with great precision. It usually comes with a gear arrangement that allows us
to get a very high-torque servo motor in small and lightweight packages. It is
rated in kg/cm (kilogram per centimeter) most hobby servo motors are rated at
1.8kg/cm or 2.2kg/cm. This kg/cm tells you how much weight your servo motor can
lift at a particular distance [26]. Fig. 12 shows Arduino Nano.
Table 4 shows the Arduino specification of Arduino Nano.
Figure 12. MG90s Servo Motor [26].
Table 4. Specification of
MG90s Servo Motor
3.1.4 Bluetooth Module HC-05
The HC-05
Bluetooth module is a popular module that can add two-way (full-duplex)
wireless functionality to projects. We can use it to communicate between two
microcontrollers like Arduino or communicate with any device with Bluetooth
functionality like a Phone or Laptop. Many Android applications are already
available which makes this process a lot easier. It is used as UART serial
converter module and can easily transfer the UART data through wireless
Bluetooth. It has a Frequency: 2.4GHz ISM band, PIO control, and comes with an
integrated antenna and edge connector. It can be used in master or slave
configuration. Package Content: 1 x HC05 Bluetooth Transceiver Module. We can
use it simply for a serial port replacement to establish a connection between MCU
and GPS, a piece to your embedded project, etc. [27]. Fig. 13 shows Bluetooth module
HC-05. Table 5 shows the Technical Specifications of the Bluetooth module [28].
Figure 13. Bluetooth Module HC-05 [27].
Table 5. Specification Bluetooth Module HC-05
3.1.5 Pressure Sensor
There are
different types of force sensors available in the market and each type uses
different technologies to detect the magnitude of specified force and generates
an output signal. In this project, we use FSRs (Force Sensing Resistors) which
is also called force-sensitive resistive resistor or printed force sensors [29]. It is a material that changes its resistance when a
force or pressure is applied. It is a sensor that allows for detecting physical
pressure, squeezing, and weight. Usually, it is very simple to be made and low
cost, although they are not accurate [30]. It changes as more pressure
is applied. When there is no pressure, the sensor looks like an infinite
resistor (open circuit), as the pressure increases, the resistance goes down.
Fig. 14 (a) shows force sensitive resistor. Table 6 shows some basics of FSRs.
The graph indicates in Fig. 14 (b) approximately the resistance of the sensor
at different force measurements [31].
Figure 14. FSR Sensor and Graph [31].
Table 6. Specification of Pressure Sensor
3.1.6 Rotary Potentiometer
A Rotary
potentiometer is an instrument for variable potential (voltage) in a circuit.
It was used in measuring voltage [32]. Potentiometers are very useful in
changing the electrical parameters of a system. It is a single-turn 10k
Potentiometer with a rotating knob. These potentiometers are also commonly
called rotary potentiometers or just POT in short. These three-terminal devices
can be used to vary the resistance between 0 to 10k ohms by simply rotating the
knob. A potentiometer knob can also be used along with this POT for aesthetic
purposes as shown in Fig. 15.
Figure 15. B10K Rotary
Potentiometer [32].
A potentiometer
has 3 pins. Two terminals (the blue and green) are connected to a resistive
element and the third terminal (the black one) is connected to an adjustable
wiper. The potentiometer can work as a rheostat
(variable resistor) or as a voltage divider. To use the potentiometer as a
rheostat, only two pins are used: one outside pin and the center pin. The
position of the wiper determines how much resistance the potentiometer is
imposing on the circuit, as the figure demonstrates. If we have a 10kΩ
potentiometer, it means that the maximum resistance of the variable resistor is
10kΩ and the minimum is 0Ω. This means that by changing the wiper position, you
get a value between 0Ω and 10kΩ as shown in Fig. 16 (a). It is Rheostat or
Variable Resistor [33].
Figure 16. Rheostat and Voltage Divider of Potentiometer [33].
Potentiometers can
be used as voltage dividers. To use the potentiometer as a voltage divider, all
three pins are connected. One of the outer pins is connected to the GND, the
other to VCC and the middle pin is the voltage output. When the potentiometer
is used as a voltage divider, the wiper position determines the output voltage
as shown in Fig. 16 (b) [33].
3.1.7
Flexible Pressure Sensor
Resistance
Pressure Sensor High Precise Resistive Film Pressure Sensor Force Sensitive
Resistor RP-L-110. It has dual functions of waterproofing and pressure sensing,
is flexible and ultra-thin, resistant to bending, extremely fast response, etc.
It adopts high-sensitivity flexible nanometer materials, which can realize
highly sensitive detection of pressure, and has a long service life, please use
it with confidence. When the sensor detects outside pressure, the resistance of
the sensor will change. The pressure signal can be converted into a
corresponding electrical signal output using a simple circuit. Model: RP-L-110,
Length: 100 mm/3.9in, Width: 10mm/04in, Range: 0 ~ 500g, Thickness: less than
0.25mm, Response time: less than 10ms, Recovery time: less than 15ms, Working
temperature: - 20℃~ 60℃. We can use a microcontroller
board like Arduino very easily as what we need to do is just use the sensor as
an input and we will get a value between 0 and 1023 where 0 will be when it
does not have pressure on it and 1023 when it has pressure on it [34]. Fig. 17 shows the Resistance
Pressure Sensor. Table 7 shows the specification of it.
Figure 17. Flexible Pressure Sensor [34].
Table 7. Specification of Flexible Pressure Sensor
|
- 20℃~ 60℃ |
|
3.1.8 Vibration Motor Module
Vibration motors
are a type of motor that provides vibration by operating electrical energy or
pneumatic (air) energy. It is very easy to operate, just give the module a 5V
HIGH-level input on the “IN” pin, it will just work. You can also use PWM
signal to get different levels of vibration effects. It is used in all
industrial machines where vibration energy is required, in food, feed, and
flour factories. It, also called vibro, vibro motor, vibration motor, vibrator
motor, vibration motor, or vibrator motor, generate vibration energy by the
rotation of the rotor of the energized motor, thanks to the eccentric weights
fixed on the rotor shaft [35]. The features of a vibration
motor are the magnet coreless DC motor is permanent, which means it will always
have its magnetic properties (unlike an electromagnet, which only behaves like
a magnet when an electric current runs through it) another main feature is the
size of the motor itself is small. Fig. 18 Vibration motor. Table 8 is the
specifications of the vibration motor.
Figure 18. Vibration Motor
Module [35].
Table 8. Specifications of
Vibration Motor Module
3.1. 9. Buck Converter Module
XL4015 Buck
Converter module has an adjustable output Voltage. It also works as a dedicated
charger for Lithium Batteries (Li-Ion, LiPo) as it is capable of controlling
voltage as well as current. It is the DC-DC Step-Down Buck Converter Module. It
has applications where the input voltage is higher than the output voltage,
such as the battery, power transformer, DIY adjustable regulated power supply,
LCD Monitor, LCD TV portable instrument power supply telecom/networking
equipment, 24V vehicle notebook power supply, and industrial equipment. It has
high efficiency of 96% as shown in Fig. 19. It has 4 pins, 2 inputs (IN+, IN-),
and 2 outputs (OUT+, OUT-). Table 9 shows the specifications of the XL4015 Buck
Converter [36].
Figure 19. XL4015 Buck Converter [36].
Table 9. Specifications of the XL4015 Buck Converter
|
None (if required, the high
current diode in series with the input) |
|
|
4～38VDC(Note: input voltage not exceeding 38V) |
|
3.2
Design of Remoted Robot Arm System
In this project,
there 2 parts of the hardware are the robot arm [37] from Thingiverse, and the wearable robot arm [38] which also uses acrylic plastic. They are samples of the
hardware that we use in this project, which uses a 3D printer to print 3D
modeling.
3.2.1 Structure of Remoted Robot Arm
The hardware of
the robot arm needs a 3D printer, soft air balls, 2 bearing metals, an Arduino
Uno, Bluetooth, 4 MG995 servo motors, MG90s servo motors, 2 FSRs, and thin
cables. [37] The 3D prints of the body
robot arm are the main body, bearing bottom, bearing middle, bearing top,
alpha, bearing axial, screw holder, 2 betas, 2 spacer beta, servo casing, 2
gammas, 2 spacer gammas, delta, and gripper [38]. Parts of the gripper are the servo connector, gripper
servo plate, gear left-right, 4 parallel bars, 2 grip parts, lift parallel bar,
and lifting gears. Fig. 20 shows the example shape of the body robot arm and
gripper.
Figure 20. Example Shape of the Body Robot Arm and Gripper [37].
Assembly of the Robot Arm
First, we are
building base rotation by including a main body, MG995 servo motor, the bearing
bottom, bearing middle soft air balls, and bearing top to get base rotation as
shown in Fig. 21.
Figure 21. Base Rotation.
For the building
of the alpha part, we need to link the alpha with 2 bearing metals and an MG995
servo motor. For bearing an axial link to a screw holder. Then we connect them.
We will get the alpha part as shown in Fig. 22 (a).
Figure 22. Alpha and Gamma Parts.
For the gamma
part, we need to connect a gamma with the MG995 servo motor. We connect 2
gammas with 2 spacer gammas. Then we connect them to get the gamma part as
shown in Fig. 22 (b).
For the Beta part,
we have connected the MG995 servo motor with 2 betas, and 2 betas need to
connect with 2 spacer betas. For servo casing link with another side of a
gamma. Then, we can connect them to get the beta part as shown in Fig. 23.
Figure 23. Beta Part.
For the delta
part, we are connecting it with the MG90s servo motor. We connect it with
another side of the gamma. Then we get the delta part as shown in Fig. 24 (a).
Figure 24. Delta and Gripper Parts.
For the gripper
part, we are connecting the gripper servo plate with the MG90s servo motor, and
with gear left and gear right. And we are linked with parallel bar and grip
part. Then we will connect them with a servo connector to get the gripper part
as shown in Fig. 24 (b).
After getting a 3D
print and each part, we can link each part of the base rotation, alpha, beta,
gamma, delta, and gripper together. So, we will get the hardware of the robot
arm as shown in Fig. 25.
Figure 25. The hardware of the Robot Arm.
3.2.2 Structure of Wearable Robot Arm
The hardware of the wearable robot arm needs a
3D printer, Arduino Nano, Bluetooth, resistance pressure sensors, rotary
potentiometer, and vibration motor. And we also need acrylic plastic, soft
tools, and rubber. The 3D prints of the wearable robot arm are
wrist connector, and hand right [38]. Fig. 26 shows the shape or example of the wearable robot
arm.
Figure 26. Example Shape of the Wearable Robot Arm.
Assembly of the
Wearable Robot Arm
First, we are
connecting the hand right with the wrist connector, and knuckle hardware to get
the hand box part to rotate the rotary potentiometer in Fig. 27 (a). And we use
soft tools and wear on 4 figures to control the resistance pressure sensor to
get the figure part in Fig. 27 (b). One more part is hand part. We use acrylic
plastic, soft tools, and rubber to create a hand part. It is equipped with
rotary potentiometers. Then we connect it and wear it on our hand in Fig. 27
(c).
Finally, when we
link all parts of the grip box part, figure part, and hand part together. We
will get the hardware of the wearable robot arm as shown in Fig. 28.
Figure 27. Wrist Hand Box, Figure and Hand Parts.
Figure 28. The hardware of the Wearable Robot Arm.
3.3
Robot Arm’s Movements
Each motion of the
robot arm has the first shape motion the same or the initialized shape before
another shape is the same. The initialized position of each servo in the first
shape has the 1st servo is 0 degrees, the 2nd servo is 0
degrees, the 3rd servo, the 4th servo, and the 5th
servo is 90 degrees. The movement of the robot arm that control by the wearable
robot arm, there are 5 structures of motion as shown below.
Fig. 29 (a) shows
the motion of extending the hand to the right. The second shape of the robot
arm moves the 2nd servo to 90 degrees controlled by the 1st
rotary potentiometer. Fig. 29 (b) shows
the structure of the fold right hand. The second shape of the robot arm moves
the 1st servo to 90 degrees controlled by the 2nd rotary
potentiometer. And the third shape, the 3rd servo moves to 180
degrees controlled by the 3rd rotary potentiometer.
Figure 29. Structure Movements of Remoted Robot Arm.
Fig. 29 (c) shows
the motion shape of the catching object. The second shape of the robot arm
moves the 2nd servo to 90 degrees controlled by the 1st
rotary potentiometer. And the third shape, the 3rd servo moves to
180 degrees controlled by the 3rd rotary potentiometer. For the four
shapes, the 5th servo moves to 180 degrees to catch an object that
control by Force Sensitive Resistor Pressure Sensor.
Fig. 29 (d) shows
the motion shape of the dropping object from the gripper of the robot arm. The
second shape of the robot arm moves the 1st servo to 90 degrees
controlled by the 2nd rotary potentiometer. The third shape, the 4th
servo moves to 0 degrees controlled by the 4th rotary potentiometer.
The four shape, the 5th servo moves to 90 degrees to drop an object
that control by Force Sensitive Resistor Pressure Sensor.
Fig. 29 (e) shows
the motion shape of a goodbye. The second shape of the robot arm moves the 1st
servo to 180 degrees controlled by the 2nd rotary potentiometer. The
third shape, the 4th servo moves from (80 to 100) and (100 to 80)
degrees controlled by the 4th rotary potentiometer.
3.4
Communication between Two Devices
In communication
between two devices, we need to have a robot arm and a wearable robot arm. We
use the wearable robot arm as a user or controller that can control the motions
of the robot arm through get data from sensors via Bluetooth serial, and moving
the wearable robot arm will result in a corresponding movement on the robot arm.
And haptic feedback will make the user aware when it reaches the limit of
pressure on the gripper robot arm, which means it was send feedback of vibration or motion to the user or wearable robot
arm to give the user aware of what something, etc.
3.4.1
Communication of Controlling Remoted Robot Arm
To control the
motion of the robot arm, it is required data from sensors such as rotary
potentiometers and flexible sensor that is attached on it. The robot arm’s
motions follow the wearable robot arm’s motions that are worn on a human arm.
It is controlled by the wearable robot arm. It gets data from the pressure
sensor and rotary potentiometers of the wearable robot arm that transmit data
via Bluetooth module HC-05 to control the motion of the robot arm. A robot arm
also controls/manages the haptic feedback. It also is attached to a pressure
sensor. The sensors detect the pressure of touching and provide feedback to the
controller by sending it to the wearable robot arm via Bluetooth serial. Fig.
30 shows a process of controlling the robot arm [39].
For the base
joint, the MG995 servo motor can rotate 180 degrees controlled by the rotary
potentiometer 2nd put on the human shoulder. The shoulder joint,
MG995 servo motor can rotate a maximum of 180 degrees controlled by a rotary
potentiometer 1st that is equipped on our shoulder. For the elbow
joint, the MG995 servo motor is controlled by a rotary potentiometer 3rd that
is equipped on our elbow. The wrist roll joint, MG90s servo motor can rotate
180 degrees controlled by the rotary potentiometer 4th that is put
on the human wrist. The gripper joint, MG90s servo motor is controlled by a
flexible sensor that is equipped on the 4 figures. When the servo rotates 90
degrees means an open grip, and 180 degrees means the catch. It can rotate 180
degrees. Fig. 31 shows the flowchart of the controlling robot arm.
Figure 30. Process of Controlling Remoted Robot Arm.
Figure 31. Flowchart of Controlling Remoted Robot Arm.
3.4.2
Communication of Controlling Wearable Robot Arm
A wearable robot
arm controls/manages the shape and whole motion system of the robot arm. It is
get data from sensors that are equipped on it, such as various pressure
sensors, and rotary potentiometers. Arduino and Bluetooth are used to send data
to the control motion of the robot arm. The sensors detect the wearable robot
arm’s movements and provide feedback in response to those movements to control
the shape of the motion of the robot arm. Its
motion depends on the human’s motion which makes each sensor change the value.
Human motion makes the data of sensors, it has been changed following the level
of that motion and sent it through Bluetooth serial. It also is a control
vibration motor that gets data from the pressure sensor that is close to the
gripper of the robot arm. It is connected to a microcontroller (Uno) on the
robot arm, it is get data from that sensor. And then it is send data from the
pressure sensor to the microcontroller (Nano) of the wearable robot arm by
using the communication of 2 Bluetooth modules HC-05 to control the vibration
motor that is equipped on the wearable robot arm. Fig. 32 (a) shows a process of the
controlling wearable robot arm [39].
A wearable robot
arm gets a haptic robot arm. When the robot arm gets data from pressure
sensors, it will send data of sensors to the wearable robot arm following the
level of pressure of resistance of touching or gripping objects to control the
level of the vibration motor. Fig. 32 (b) shows a flowchart for controlling the
wearable robot arm.
Figure
32 (a). Process of Controlling Wearable Robot Arm.
Figure 32 (b). Flowchart of
Controlling Wearable Robot Arm.
3.4.3
Communication of the Haptic Robot Arm
In the
communication of signals, we divided it into 2
parts. There are master and slave or transceiver signals. Fig. 33 shows the
communication of the haptic robot arm. It sends data or signals to each other
the 2 devices by using Bluetooth serial. Wearable robot arm side, Arduino Nano
measures data from sensors, such as flexible pressure sensors and rotary
potentiometers. All data measured from sensors are sent to the slave side or
microcontroller (Uno) to the controlling each servo motor in the robot arm
through the communication of 2 Bluetooth modules HC-05. For Arduino Uno
measures data from pressure sensors that are equipped on the gripper of the
robot arm side, then sends data to control vibration motors in the wearable
robot arm side through Bluetooth. Fig. 34 shows the flowchart of the haptic
robot arm.
Case wearable robot arm is master, and robot arm is
slave. The microcontroller of the wearable robot arm gets data from sensors
such as the pressure sensor and rotary potentiometers. And it is send that data
to the robot arm through the communication of Bluetooth. When the robot arm
gets signals from the wearable robot arm. The signals are sent to the
microcontroller of the robot arm to control the speed of each servo of the
robot arm according to the level of the sensors or motion of the wearable robot
arm that is sent through Bluetooth.
The case robot arm is the master, and the wearable
robot arm is the slave. On the robot arm side, the microcontroller gets data
from sensors such as pressure sensors or force sensors. And it is sending that
data to the wearable robot arm through the communication of Bluetooth. When the
wearable robot arm gets signals from the robot arm following Bluetooth. The
signals are sent to the microcontroller to control each vibration motor of the
wearable robot arm according to the level of sensors or force touch to grab
that sent through Bluetooth.
Figure 32. Communication of the Haptic Robot Arm.
Figure 33. Flowchart of Controlling Haptic Robot Arm.
In Fig. 34, it is shown condition of the
controlling each servo motor on the robot arm by using each data of sensors on
the wearable robot arm such as flexible pressure sensor, rotary potentiometer
to control each shape or motion of the servo motor. And it also is shown the
condition of the controlling vibration motors on the wearable robot arm by
getting data from the robot arm to control the vibration motors.
4.1
Testing Rotary Potentiometer
In
this testing, we test a rotary potentiometer. To test it, we need a (Arduino
Nano), jumpers, and a breadboard. And then we link them.
Figure 34. Graph of Testing a
Rotary Potentiometer.
Fig.
34 shows data from testing a rotary potentiometer. The serial plotter shows the
values or graph of the sensor. The circle A shows data the start position. When
we move clockwise, it shows increased values until near 1023 as shown in circle
B. We move counterclockwise, it shows reduce values until near 0 as shown in
circle C. And if we move the knob to reduce the value and then stop, it shows
the value of potentiometer of that value as in circle D.
4.2
Testing Flexible Sensor
Testing
of the Flexible Pressure Sensor needs a (Arduino Nano), a resistance 10k ohm, a
breadboard, jumpers and then link them together.
Figure 35. Graph of Testing
Flexible Pressure Sensor.
Fig.
35 shows data from testing a flexible pressure sensor. The serial plotter shows
the values or graph of the sensor. The circle A shows start position. When we
apply pressure on it, it shows increased values as shown in in circle B. When
we are not applied pressure on it, it shows reduce values until near or equal
start position as shown in circle C.
4.3
Testing Pressure Sensor
Testing of Pressure sensors needs a (Arduino
Uno), a resistance of 10k ohm, a breadboard, and jumpers. It measures the value
of sensors from an analog pin range of 0-1023.
Figure 36. Graph of Testing Pressure Sensor.
Fig.
36 shows data from testing a pressure sensor. The serial plotter shows the
values or graph of the sensor. The circle A shows start position. If we apply
pressure on it, it shows increased values as shown in circle B. When we are not
applying pressure on it, it shows reduce values until near or equal start
position as shown in circle C.
4.4
Transceiver Data via Bluetooth Module
The
transceiver data in this project use two Bluetooth modules HC-05 for
transmitting and receiving data. A Bluetooth module can transmit data and
receive data that we called Transceiver data. Between two Bluetooth modules can
communicate with each other, we use AT command mode to set Bluetooth as master
and the other as slave via AT command mode [40]. To make two Bluetooth modules communicate,
they must be the same address master, and slave. First, we need to find the
address of the slave via AT command mode.
AT command mode
of the Bluetooth module is used to change the default settings of the Bluetooth
module. To use AT command, first, we need a microcontroller (Uno), HC-05
Bluetooth module, and jumpers. And we need to connect the pin of the Bluetooth
module to the microcontroller. We are connecting (the TX, RX, Key/Enable/Wakup,
VCC, and GND) pins of Bluetooth to (the 10, 11, 9, 5V, and GND) pins of Arduino
Uno. Fig. 37 shows connect pin of Bluetooth and Arduino Uno.
Figure 37. Pin Definition [40].
Next step, we
need to upload an empty sketch on Arduino Uno as shown in After uploading an
empty sketch to the microcontroller, we need to unplug of VCC pin and press the
button on the Bluetooth, in that moment, we are plugging the VCC pin in the 5V.
When the Bluetooth is in AT command mode, the LED of Bluetooth slowly blinks,
we also can change the default of the Bluetooth module on the serial monitor
and press enter.
Type “AT” and
enter to know whether Bluetooth is in AT command or not (Check connection). If
OK appears then everything is all right and the module is ready to take
command. We can change the name, baud rate, and password, reset, and retrieve
the address or version of the module. To see the default name type “AT+NAME?”
its name default is HC-05. Type “AT+UART?” is to see desired baud rate.
“AT+ROLE?” is to see the role of the module (if role=1 is the master, role=0 is
the slave). “AT+ADDR?” is to see the default address and AT+BIND= default
address (98d3:71:f6b715) is Bind to the ADDR of Slave as shown in Table 10
shows the description of each AT command mode function.
Table
10. Default AT Command Configure of Bluetooth Module HC-05
To configure
Bluetooth on the robot arm as a slave, we need to set AT+UART=38400, AT+ROLE=0,
CMODE=0, and type “AT+ADDR?” default address (98d3:71:f6b715), and copy this
address. Table 11 shows the slave configuration.
Table 11. Slave Configuration
And then, we
config the Bluetooth on the wearable robot arm as master by setting AT+ROLE=1
and set CMODE=0. We pasts the default address of the slave in master (Bind to
the ADDR of Slave) by type AT+BIND=98d3,71,f6b715. Table 12 shows the slave
configuration.
Table 12. Master Configuration
4.5
Result of Testing Remoted Robot Arm
The
robot arm is controlling servo motors that use data from rotary potentiometers
and flexible sensors. To control servo motors, there are components such as a
microcontroller (Arduino Uno), a battery, a buck converter, a Bluetooth module
HC-05, etc. It is a link to get the hardware of the robot arm as shown in Fig.
38.
Figure 38. The hardware of the
Robot Arm.
It gets a result
in the controlling robot arm by using data of sensors such as Flexible Pressure
Sensor and Rotary Potentiometers on the wearable robot arm to control the 5 DOF
of servo motors via Bluetooth serial. Fig. 39 shows a picture of the robot arm
that was controlled by a wearable robot arm.
Figure 39. Result of Controlling
Robot Arm.
4.6
Result of Testing Wearable Robot Arm
The
wearable robot arm is controlling vibrate motors that use a data Pressure
sensor from the robot arm. To control vibrate motors, there are components such
as a microcontroller (Arduino Nano), a battery, a buck converter, a Bluetooth
module HC-05, etc. It is a link to get the hardware of the robot arm as shown
in Fig. 40.
Figure 40. The hardware of the
Wearable Robot Arm.
It can get a good
result in the controlling wearable robot arm by using data of pressure sensors
on the robot arm to control the vibration motors via Bluetooth serial.
4.7
Result of Testing Haptic Robot Arm
The
haptic robot arm is controlling servo motors and vibrator motors by using data
of sensors. It is transceiver data each other between the robot arm and
wearable robot arm via Bluetooth module HC-05. Fig. 41 shows the hardware of
testing the haptic robot arm.
Figure 41. The hardware of the
Testing of the Haptic Robot Arm.
Finally, we are
testing the communication of the haptic robot arm by using data of sensors such
as Flexible Pressure Sensor and Rotary Potentiometer that are worn on the
wearable robot arm to control the servo motors of the robot arm and using the
data of FSR sensors equipped on the grip of the robot arm to control vibration
motors of the wearable robot arm via Bluetooth serial. Fig. 42 shows a picture
result of the haptic robot arm. It shows action of catching an object and
response feedback is vibrator to controller that wear on the palm. It is result
of testing haptic robot arm.
Figure 42. Result of Testing
Haptic Robot Arm.
CHAPTER 5: CONCLUSION AND FUTURE WORK
5.1
Conclusion
This report
reviewed the technology relate to robot arm, wearable robot arm, and haptic
technology. We learned about controlling the motions of the robot arm by using
data from sensors on the wearable robot arm to control it. We also learned
about getting feedback data from the robot arm. This operating system depends
on the Servo motors, Sensors, and mechanical components that enable the system
to move in different directions and to handle different angles or motions of
points in the process area. The sensors are important in controlling the robot
arm and wearable robot arm. It is used to determine the current state of the
system by using microcontroller programming. So, the haptic robot arm will be
good work.
5.2
Future Work
+
Design new wearable robot arm
+
Performance of transceiver data
+ Increase motions
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