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Gesture controlled robotic arm for treating infected patients
The Project is about operating a robotic arm using specific hand gestures. The robotic arm is Arduino based. The main objective of this project is to develop a low cost system that can help doctors treat patients who are suffering from infectious diseases. That is why the main objective here is to ensure precision.
The main sensors used here are two flex sensors and an IMU (Inertia Measurement Unit) sensor. MPU-6050 was used as the IMU. It has a gyroscope and an accelerometer. The outputs from these two sensors are combined to calculate the roll pitch and yaw angles in the arm.
Here the Base servo, Servo 1 and Servo 2 are controlled using IMU data. The IMU data has to be pre processed for precise control. We take every 200 data received from the sensor and average them. We also disregard the data if it differs too much from the previous data (more than 40%).
The gripper is controlled using a flex sensor that is added in the index finger of the gloves. If the index finger is bent the gripper closes and opens otherwise
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