Design, Implementation, and Forward Kinematics of a Wireless Human-Motion-Controlled Robotic Hand Based on Arduino and C# Interface
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https://doi.org/10.5281/zenodo.16811154Keywords:
Bluetooth, flex sensor, forward kinematicAbstract
This study presents a wireless robotik hand system controlled by flexible bending sensors and managed in real time via an Arduino Uno microcontroller. The system consists of two main parts. The first part includes a user glove equipped with five flex sensors, while the second part features a 3D-printed robotic hand in which each finger is driven by a servo motor. For wireless data transmission between these two parts, two Bluetooth (HC-05) modules configured as master and slave are used. Analog data obtained from the sensors integrated into the user glove is transmitted wirelessly to the servo motors of the robotik hand, enabling finger movement. The graphical user interface (GUI), developed using Windows C#, performs forward kinematic calculations of finger positions and allows graphical monitoring of servo angles. Experimental results indicate that the system achieves over 95% positioning accuracy with an average delay of less than 70 ms. The robotic hand successfully performs grasping actions within its maximum range of motion. As a low-cost prototype, the system is applicable in various fields such as engineering education, rehabilitation, agriculture, and robotics. It can be enhanced with Wi-Fi or IoT modules and may be explored in future studies through the integration of artificial intelligence.
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