Application of Teleoperation Control for a Robotic Hand using a Glove

The use of the robotic hand has spread widely in recent times, as it has set foot in a wide variety of fields, such as the medical, military, and industrial, and has become greater complexity, developed, faster, and more efficient, thanks to the communication technology, where the world of communications has been marked by two revolutions: the Internet and mobile telephony, where the internet connectivity was integrated into the cellular network in the early 2000s through data services such as GPRS. These systems provide end-user benefits in terms of reach and mobility. Currently, tele-operation via the Internet takes its status in the remote control of complex mechanical systems with several degrees of freedom, thanks to increasingly powerful communication protocols, numerous studies and research have been carried out around robotics, some of them are complex, expensive, inefficient, and some are restricted or limited. On this ground, we implemented a suitable, uncomplicated, inexpensive design with good efficiency and high response. In this paper, an industrial robotic hand was developed and designed that printed by a 3D printer, which is controlled wirelessly by wearable glove-embedded flex sensors. The robotic hand simulates human hand finger movements (hand gestures) with the ability to hold things well very similar to the real hand. The design consists of two main parts, the first part (server or receiver part) the robotic hand and its components (electronic circuit design), consisting of five servo motors linked to a microcontroller Arduino Uno for the purpose of moving robotic fingers, where a single servo motor is assigned to each finger, with the XBee signal receiving unit, which is installed on the Arduino by a special shield, the second part (the master or sender part) the glove built-in with flexible sensors that worn by the person, this circuit consists of sensors (flexible printed resistance) connected with ordinary variable resistors in the form of a voltage divider circuit and attached with the Arduino LilyPad where it sends signals to the robotic hand using the XBee transmitter module(radio frequency).