Control of Soft Robotic Artificial Muscle with Hand Gesture Using Leap Motion Sensor

Abstract

We describe the control design strategy used to control a soft robotic artificial muscle composed of silicone rubber using hand gesture signals. This artificial muscle is actuated with pneumatics, and therefore, the control strategy employed is through the regulation of air pressure within the inner chambers. Using the hand gestures of bringing the hands apart and together, the artificial muscle can be made to expand and contract with the gesture interface from the leap motion sensor. The advantage of the employed hand gesture control compared to switch control is that it provides a more natural interface for the regulation of air pressure within the artificial muscle through the use of electronic and automatic control. Possible areas of application include the use of the soft muscles for rehabilitation purposes and the combined system for developing a physiotherapy gaming device to exercise the hands and fingers of individuals that need to strengthen the muscles of the hands and fingers.