Animatronic Wireless Hand
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ANIMATRONIC WIRELESS HAND A PROJECT REPORT Submitted by J. JANET M. KAVITHA R. KIRAN CHANDER in partial fulfillment for the award of the degree of BACHELOR OF ENGINEERING IN ELECTRICAL AND ELECTRONICS ENGINEERING EASWARI ENGINEERING COLLEGE, CHENNAI-89 ANNA UNIVERSITY: CHENNAI-600 025 APRIL 2019 ii ANNA UNIVERSITY: CHENNAI 600 025 BONAFIDE CERTIFICATE Certified that this project report “ANIMATRONIC WIRELESS HAND” is the bonafide work of “J.JANET (310615105030), M.KAVITHA (310615105033) and R.KIRAN CHANDER (310615105035)” who carried out the project work under my supervision. SIGNATURE SIGNATURE Dr.E.KALIAPPAN,M.Tech., Ph.D., Ms.B.PONKARTHIKA,M.E., HEAD OF THE DEPARTMENT SUPERVISOR ASSISTANT PROFESSOR DEPARTMENT OF ELECTRICAL AND DEPARTMENT OF ELECRICAL AND ELECTRONICS ENGINEERING ELECTRONICS ENGINEERING EASWARI ENGINEERING COLLEGE EASWARI ENGINEERING COLLEGE RAMAPURAM - 600089 RAMAPURAM – 600089 Submitted for the University examination held for project work at Easwari Engineering College on ……………………… INTERNAL EXAMINER EXTERNAL EXAMINER iii ACKNOWLEDGEMENT We would like to express our sincere thanks to our respected chairman, Dr. R. SHIVAKUMAR, M.D., Ph.D., for providing us with requisite infrastructure throughout the course. We would like to express our sincere thanks to our beloved Principal Dr. K. KATHIRAVAN, M.Tech., Ph.D., for his encouragement. We are highly indebted to the Department of Electrical and Electronics Engineering for providing all the facilities for the successful completion of the project. With a deep sense of gratitude, we would like to sincerely thank our Head of the Department Dr.E.KALIAPPAN, M.Tech., Ph.D., for his constant support, encouragement and valuable guidance for our project work. We are extremely grateful to our project supervisor Ms.B.PONKARTHIKA M.E., Assistant Professor, Department of Electrical and Electronics Engineering for her consent guidance, suggestions and kind help in bringing out this project within scheduled time frame. We would like to thank our project coordinator Dr.E.KALIAPPAN, M.Tech., Ph.D., Head of the Department, Department of Electrical and Electronics Engineering for his valuable suggestions and encouragement. We would like to thank all our Parents, Teaching and Non- Teaching staff for their kind co-operation throughout this project work. J.JANET (31061505030) M.KAVITHA (310615105033) R.KIRAN CHANDER (310615105035) iv ABSTRACT Amputees face several problems such as phantom pain, surgical complications and skin problems with the use of an artificial hand that cannot be used to perform any operation. In order, to enhance the lives of the physically challenged, the field of animatronics has been a long way from matching the grasping and manipulation capability of their human counterparts. There have been several models designed to help the amputees but are incredibly expensive. To overcome this limitation in order to enhance the comfort of a common man, this project has been developed through changes in the design, fabrication and an alternate means of wireless communication. The movement of the animatronic hand is actuated by the gestures of the normal hand detected by means of a sensitized glove containing flex sensors. The data obtained through this process is transferred to the bionic arm to carry out the pre-programmed action. Thus, the lives of the physically challenged can be enhanced with increased comfort and making them feel independent by utilizing this product to carrying out daily activities. In the future, this project can be extended to increased number of activities and a different control mechanism. v TABLE OF CONTENT CHAPTER NO. TITLE PAGE NO. ABSTRACT iv LIST OF TABLES viii LIST OF FIGURES ix LIST OF ABBREVIATIONS xi 1 INTRODUCTION 1 1.1 INTRODUCTION 1 1.1.1 Basic Structure and Working of Human Hand 1 1.1.2 Palm 2 1.1.3 Fingers 2 1.2 PROBLEMS FACED BY AMPUTEES 3 1.3 TIMELINE IN PROSTHETICS 5 1.4 ANIMATRONICS 7 1.4.1 Basic Concepts 7 1.4.2 Components of an Animatronic Structure 8 1.4.3 Control Mechanisms 10 1.5 OBJECTIVE OF THE PROJECT 10 1.6 CONCLUSION 11 vi CHAPTER NO. TITLE PAGE NO. 2 LITERATURE SURVEY 12 2.1 INTRODUCTION 12 2.2 LITERATURE SURVEY FROM REFERENCE PAPERS 12 2.3 SUMMARY 22 3 PROPOSED ANIMATRONIC WIRELESS SYSTEM 23 3.1 PROPOSED SYSTEM DESIGN 23 3.2 HARDWARE DESCRIPTION 24 3.2.1 Flex Sensor 24 3.2.2 Servo Motors 28 3.2.3 Arduino Board 30 3.2.3.1 Technical specifications 30 3.2.3.2 Pins 31 3.2.3.2.1 General pins 31 3.2.3.2.2 Special pin functions 32 3.2.3.3 Communication 32 3.2.3.4 Automatic (Software) reset 33 3.2.4 Bluetooth Module- HC 05 34 3.2.4.1 Introduction 34 3.2.4.2 Pins 34 3.2.4.3 Command mode 36 3.2.5 9V Battery 37 3.2.6 Power Bank 38 3.2.6.1 Power Bank Types 39 vii CHAPTER NO. TITLE PAGE NO. 3.2.6.2 Power Bank Lifetime 40 3.3 SOFTWARE 40 3.3.1 pinMode() Function 42 3.3.2 digitalWrite() Function 42 3.3.3 analogRead() Function 43 3.4 WORKING 43 3.5 ADVANTAGES OF PROPOSED SYSTEM 3.6 CONCLUSION 44 4 RESULT AND OBSERVATION 46 4.1 3D PRINTED HAND 46 4.2 CONTROL MECHANISM 47 5 CONCLUSION AND FUTURE SCOPE 49 5.1 CONCLUSION 49 5.2 FUTURE SCOPE 49 6 REFERENCES 51 viii LIST OF TABLES TABLE NO TITLE PAGE NO 2.1 Postures and its error percentage 1 7 3.1 AT Commands 36 ix LIST OF FIGURES FIGURE NO. TITLE PAGE NO. 1.1 Anatomy of human hand 3 1.2 Types of artificial limbs 5 1.3 Timeline of improvement in prosthetics 7 1.4 Animatronic Dragon Kronos 8 1.5 Pnuematic actuators 9 2.1 Assembled jaw mechanism 13 2.2 Rest and flexion movement of the assembled mechanism 14 2.3 Animatronic hand with RF receiver 15 2.4 Module developed with steel caps 16 2.5 Operation using both LM and SG 18 2.6 Gripper in position, downward movement and circular movement of the robotic system. 19 2.7 Simulation of the operation of the animatronic hand 20 2.8 Experimental set-up incorporating EMG Sensors 22 3.1 Block diagram 23 3.2 Flex sensor 25 3.3 Variation in resistance according to the bend 25 x FIGURE NO. TITLE PAGE NO. 3.4 Typical voltage divider circuit 26 3.5 Inserting flex sensor in voltage divider circuit 27 3.6 2D model of flex sensor 28 3.7 Micro servo 9G 29 3.8 Arduino Uno pin configuration 33 3.9 Bluetooth HC-05 35 3.1 9V Battery 38 3.11 9V Battery clip 38 3.12 Power bank 39 4.1 Animatronic 3D printed hand with Bluetooth module HC-05 47 4.2 Control glove with HC-05 Bluetooth Module 48 xi LIST OF ABBREVIATIONS 3DUI 3D User Interfaces OLE Optical linear encoder DC Direct Current GND Ground IOREF Input Output Reference RF Radio Frequency WPAN Wireless Personal Area Network LED Light Emitting Diode LCD Liquid Crystal Display 1 CHAPTER 1 INTRODUCTION 1.1 INTRODUCTION 1.1.1 Basic Structure and Working of Hand The hand consists of palm and fingers, the movements of which are controlled by muscles both in the forearm (extrinsic muscles) and the muscles within the hand itself (intrinsic muscles). The movements of the hand as described in the anatomical terms are as follows, x Flexion : A bending movement by means of which the angle between the two parts decreases. Eg. Flexing fingers while clenching the fist. x Extension : A straightening movement by means of which the angle increases between the two parts. Eg. Stretching out of fingers. It can be understood that both flexion and extension are two opposite. x Abduction : A motion that results in a structure being pulled away from the middle. Eg. Spreading out of fingers. 2 x Adduction: A motion that results in a structure being drwn towards the middle finger. Eg. Closing of fingers. 1.1.2 Palm The palm of the hand is formed by five metacarpal bones that are an extension from the wrist. There bones are numbered one to five from the thumb to the little finger. The metacarpals come into contact with each other on their sides. Their bulging heads come into contact with the bottom heads of the fingers. These heads can be seen as knuckles with the action of clenching of the fist. The metacarpal associated with the thumb, numbered as metacarpal 1 is the shortest and most mobile. A special joint known as saddle joint is present between metacarpal 1 and the wrist enabling the tips of the fingers to touch, an action known as opposition. 1.1.3 Fingers The fingers are numbered from one to five beginning with the thumb which is also known as pollax. The phalanges are the miniature long bones in the fingers. Except the thumb, the each finger has three phalanges as follows, x Distal bone – The bone located at the tip of the finger. x Middle and proximal – the bone located at the base of the finger. As mentioned above, the thumb does not have the middle phalange giving a total of 14 phalanges in each hand. Figure 1.1 3 displayed below provides a clear understanding of the location of each bone. Figure 1.1 Anatomy of human hand 1.2 PROBLEMS FACED BY AMPUTEES: People can lose a part or an entire limb for various reasons such as problems with blood circulation, injuries, cancer, birth defects and so on. Amputees thus face a lot of problems both physically and mentally as a result of loss of limb.