Mimicking robotic hand-arm

Abstract

The aim of this project is to interface the human arm with a machine wirelessly and that machine in turn will mimic the motions of the human arm as accurately as possible. The idea for this prototype was got from NASA's ROBONAUT which is a highly dexterous robot being used on the International Space Station [5], [6]. Human Machine Interface used for robots is usually done using a joystick or a master slave configuration. Since this project involves the actual interfacing of a human limb with the robot, this makes manoeuvring the robot more user-friendly. Also due to the H.M.I. complex algorithms based on D.H. conventions [7] need not be used. Thus the major drawback faced by the D.H. algorithm of not being able to work perfectly with more than six D.O.F. does not come into play. Hence the robotic arm can have as many D.O.Fs as required and have simultaneous motion of joints thus increasing its flexibility, unlike conventional robotic arms in which only one joint can move at a time. Thus the high flexibility derived from an arm having a minimum of twelve degrees of freedom allows the robots end effector which is identical to that of the human hand, to grasp objects at different positions in 3D space at various angles which is necessary when handling delicate equipment.