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A Wireless-controlled 3D printed Robotic Hand Motion System with Flex Force Sensors

Salman, F., Cui, Y., Zafar, I. , Liu, F., Wang, L. & Wu, W. ORCID: 0000-0003-1462-6402 (2020). A Wireless-controlled 3D printed Robotic Hand Motion System with Flex Force Sensors. Sensors and Actuators A: Physical, 309, article number 112004. doi: 10.1016/j.sna.2020.112004


Hand gesture recognition is an emerging field of technology in robotics and human-computer interaction. It has tremendous applications in daily life activities and intelligent workplaces. In this study, a system which could help people to work and operate without directly using hands or contacting by hands, is proposed and demonstrated. This system composed of a glove with flexible force sensors and a 3D printed robotic forearm. The user wearing the glove could control the action of the 3D printed robotic forearm. The 3D printed forearm simultaneously acted following the motion of the glove. The 3D printed forearm was composed of 46 individual parts that were printed with white biodegradable polylactic acid (PLA). Electronic components in the system are five flex sensors, a master Arduino Nano, a slave Arduino Nano, a wireless NRF24L01 transmitter module banding on the glove, a second wireless NRF24L01 receiver module in the forearm and five motors. The five flex sensors on the fingers of the glove detected and collected the signals reflecting the movements of the hands. The Arduino Nano processed the signals from the flex sensors and sent them through the wireless transmitter module to the slave Arduino Nano. In order to control the action of the robotic forearm, it was embedded with a slave Arduino Nano as a control kernel, a wireless NRF24L01 receiver module and five actuators. The slave Arduino Nano received and processed the signals through the wireless receiver module. After that, the signals were sent to the actuators- servo motors. The fingers’ action in the robotics arm was executed with the actuators. After carefully testing the system, the robotic arm followed the action correctly with a maximum 0.133 ms time delay all the time. This system could be really useful for the users who work in dangerous conditions, hazardous environment or require remote operation for safety reasons.

Publication Type: Article
Additional Information: © 2020. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
Publisher Keywords: Arduino Nano, Flex force sensors, NRF24L01 module, hand motion, 3D printed robotic arm
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Q Science > QM Human anatomy
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Science & Technology > Engineering
[thumbnail of Sensors and Actuators A.pdf]
Text - Accepted Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.

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