Volume 2, Issue 5, May 2017 International Journal of Innovative Science and Research Technology

ISSN No: - 2456 - 2165

Design And Development of Bionic Hand Using Voice

Control
R.Venkatagiri 1, Athul Anish 2, Sujan.S 3, Gokul.S 4
B.Tech - Mechanical Engineering, SRM University (Ramapuram Campus)
Bharathi Salai, Chennai 600089, Tamilnadu, India

Abstract:In the continuous quest for improved commands are assigned to unique and individual characters in
performance and functions, the field of Bionics and the application. The application transmits the character as
Robotics has been evolving and establishing great ASCII value to the HC-05 bluetooth module. The ASCII value
technological innovation. The bionic hands are wonderful is passed to the serial communication modules of the Arduino
technology to make lives of hand amputees better. The Nano board. The microcontroller code is designed in the way
user control interface for bionic hands has been evolving to to establish perfect interpretation of the data received from
a great extent over time. The control of bionic hand with HC-05. The motor actuation is performed based on the unique
EMG sensors and flex sensors has been an expensive and characters interpreted. The human hand gestures are mimicked
sophisticated. The sophistication of these control units lead by the bionic hand based on the motor actuation.
to involvement of long training and user calibration
sessions. Such tedious procedures make it hard for hand
amputees to get adapted to the technology. The muscle
tension sensor implants lead to adverse conditions of nerve
failure and health hazards in some cases. Hence, an
inexpensive, user-friendly and optimized control of bionic
hand using voice control will be a beneficial scientific
innovation for the hand amputees.

Keywords: Bionics, Robotics, Voice control, Microcontroller.

I. INTRODUCTION
The Bionic hand is an extensive bio-mechatronic
device involving a wide range of concepts involving biology
and mechatronics. The bionic hand is designed based on the
ergonomics and functions of a human hand. The bionic hand
of today has progressed greatly since the hook prostheses that
were introduced centuries ago. The device is designed with
appropriate control to provide the hand amputee a comfortable
and healthy user experience. The bionic hand are generally
designed with multiple degrees of freedom. The involvement
of these multiple degrees of freedom is based on the actual
mechanism of a human hand. The sensors, control units and
actuators are prime parts of an bionic hand. The control of
bionic hand using voice control establishes user-robot
interface without any complex training and health risks. The
voice control concept can also be established in a inexpensive
way to ensure greater reach of the device to the society.
III. ARDUINO NANO
II. PROPOSED IDEA
The Arduino Nano is a powerful tool with
The Bionic hand is implemented using servo ATMEGA328PU microcontroller to program and manipulate
controlled finger mechanism. The voice control is established the electronic functions. The Arduino Nano is implementation
using an application (Android platform) and HC 05 of 32kBflash memory with read while write capabilities. It is
Bluetooth module. The Arduino Bluecontrol application in designed with 32 registers for various purposes, serial
android platform is used for voice command recognition.. The communication with USART, two-wire serial interface, SPI

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Volume 2, Issue 5, May 2017 International Journal of Innovative Science and Research Technology
ISSN No: - 2456 - 2165

serial port, 6-channel 10-bit ADC, programmable timer with

internal oscillator and power saving modes. The device
operate in the input voltage range of 1.85V to 5V. The
Arduino Nano can be programmed with Arduino IDE. The 32
registers are connected to the Arithmetic Logical Unit directly,
allowing access to two independent registers in a single cycle.

V. SERVO MOTORS
`A servo motor is a rotary actuary that allows
accurate control of actuation in angular way. The motor is
coupled for feedback with a sensor. The output of the servo
motor is the control of the shaft position. The input is given in
implementation of pulse code modulation to establish the
angular position of the shaft. The modern servo motors are
functioning using rotary encoders with either absolute or
incremental methodology. The servo is interface using the
three connecting pins of the motor, Vcc, Gnd and Signal pins .
The servo motor used for the finger mechanism actuation is
the SG90. The servo motor for the axial rotation of the hand is
MG995.
Servo specifications SG90,
Operating voltage - 5v
Angular speed - 60 deg / 0.12 sec
Torque - 1.8 kg/cm (~ 4.8v)

IV. HC05 BLUETOOTH MODULE

The bluetooth module HC05 is an implementation of
master/slave communication concept. The HC05 bluetooth
module is designed with Slave mode of operation by default.
The slave module can accept connections from other modules
but cannot initiate connection with other modules. The
Bluetooth module uses the updated technology of CSR
Bluecore with Adaptive Frequency Hopping and CMOS
technology. The Bluetooth module functions at an voltage
level of 3.3 to 5V I/O. The module is enhanced with UART
interface with programmable baud rate. The default baud rate
of the system is 9600 and it consists of 8 data bits. The auto
connect to the last device on power is default.

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Volume 2, Issue 5, May 2017 International Journal of Innovative Science and Research Technology
ISSN No: - 2456 - 2165

Servo specifications MG995, VI. ELECTRONIC CIRCUIT DESIGN

Operating voltage - 5v The electronic circuit is designed with
Angular speed - 60 deg / 0.12 sec implementation of components HC05, Arduino Nano and
Torque - 9.4 kg/cm (~ 4.8v) Servo motors. The HC05 bluetooth module is used to establish
connectivity to the mobile application in android platform.
The Arduino Nano receives the data from the HC05 module
using the serial communication protocol. The Rx and Tx pins
of HC05 are connected to the Tx and Rx pin of Arduino Nano
respectively. The Servo motors are interfaced with the
Arduino Nano, to actuate the finger and other hand
mechanisms based on the voice command. The servo motor
signal pins are connected to digital pins D3, D4, D5, D6, D7
and D8.

important parameter in the design of bionic hand. The pulling

force for each hand is unique, and depends on parameters such
VII. FORCE CALCULATION
length and position of servo horns. The angular rotation of the
The calculation of force required to actuate the finger horn results in finger mechanism actuation. The relation
mechanism is done using the values of torque of servo (at between force, torque and distance from axis of rotation is
4.8v) and length of the servo horn used in each servo motor. given by,
The force required to actuate the finger mechanism is an Force = ((Torque/Distance) x (9.8068))

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Volume 2, Issue 5, May 2017 International Journal of Innovative Science and Research Technology
ISSN No: - 2456 - 2165

Units : has verified using serial communication commands using

Force - Newton serial monitor control in arduino IDE. The rotation angles of
Torque - kg/cm the used servo was manually determined and implemented in
Distance - cm the final program code. The individual finger mechanisms
Data: have been tested and actuated separately using serial
Length of horn = 2.5 cm. communication commands using serial monitor in arduino
Torque=1.8kg/cm IDE.
(The SG 90 servo used to actuate fingers has a torque of 1.8
kg/cm (at 4.8v).)

Force = ((1.8/2.5)*9.8068 ) N
Force = 7.0609 N.

Thus, the force required to actuate the finger

mechanism is determined to be 7.0609N.This force is exerted
at the servo horn end to actuate the individual finger
mechanism from open to close position. Each servo motor
exerts the individual force of 7.0609 N to actuate the finger
mechanism with servo horn end being the string connection
end.
VIII. VOICE COMMANDS
The voice controlled application in android platform
is preset by users with 10 vocal commands. These commands
are assigned to corresponding unique ASCII character. By The angle of servo rotation for open and close for each finger
calling these vocal commands, the recognition system triggers was determined manually and the data was appropriately used
the corresponding character to be sent through the established for the manipulation of the corresponding servo rotation. The
Bluetooth serial communication. The commands are assigned open and close angle being the important parameter in the
to unique and individual characters in the application. The work paradigm of the bionic hand was given higher
application transmits the character as ASCII value to the HC- importance in manual calibration process. The manual
05 bluetooth module. calibration was done for each servo rotation. The power
supply for the microcontroller being 5v and 1 amp, a separate
battery pack is used for the microcontroller power supply. The
COMMAND CHARACTER FUNCTION servos with great need for adequate power supply are
Left a Turn left supported by 8v and 1 amp battery pack and IC7805 voltage
Centre b Centre position rectifier circuit. This ensures proper and adequate power
Right c Turn right supply to both the microcontroller and servo power supply
Open d Open Hand circuits. The two power supply circuits are linked together
Close e Close Hand using a common ground to prevent any short circuit situations.
Little f Close little finger The voice recognition application used for the bionic hand is
Ring g Close ring finger linked with Google assistant in the back end. This enables a
Middle h Close middle finger huge voice analysis database for the bionic hand. The voice
Index i Close index finger control application with required commands and
Big j Close thumb finger corresponding characters to establish proper correlation
between the two parameters. The voice control application is
IX. RESULTS AND DISCUSSION tested with optimum internet connectivity to ensure stable
voice command recognition. The program for the bionic hand
The Bionic hand design and fabrication is is uploaded with all required servo angular setting for each
implemented and verified for desirable functions and finger action and corresponding character verification from
operations. The bionic hand has been designed with 5 servo serial communication registers of the microcontroller. The
motors for finger mechanism and actuation and one angular voice command is set for ten numbers of commands. The ten
rotation of arm base. The servos are placed at desirable commands are specified as per the voice command list. The
positions to exert required force through the string connecting voice control has proved to be successful to trigger all the
the servo motor and the finger mechanism. The angular desirable finger manipulation. The arduino nano being a open
rotation of arm base has been implemented by fixing the arm source development hardware, its easy for future concept and
base with servo hones axially. The rotation of the base joint algorithm implementation to be easier in the bionic hand. The

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Volume 2, Issue 5, May 2017 International Journal of Innovative Science and Research Technology
ISSN No: - 2456 - 2165

bionic hand can be tested and developed for different program making it easier for people with multiple amputations. The
paradigms and interfacing of the new features in the hand such voice commands are simple mostly single words thereby
as tactile sensors will be a easier task with this open source making it easier for people to memorize and use it. Its a
hardware. The rotation of the arm base joint is controlled highly cost efficient and hence its highly affordable for
using left, right and centre command. The SG90 servo actuates almost all hand amputees. The voice control option gives the
finger mechanism in the most desirable speed and to the user a set of commands using which he can control his
accurate open and close level to mimic finger movements. The prosthetic bionic arm and hand. A voice-user interface makes
voice command for individual finger actuation and various human interaction with bionic hand possible through a
other finger positioning has proved to be successful and voice/speech platform in order to initiate an automated service
spontaneous. The speed of motor actuation is varied with or process.
delay commands in arduino IDE. The usage of dual power
supplies ensures stable power for microcontroller, thereby REFERNECES
establishing a stable connectivity to voice control application [1]
through Bluetooth module. The design and fabrication of Anup Kumar and Ranjeeta chauhan, (2014), Voice
bionic hand using lightweight material such as acrylic sheet Controlled Robot, IJIRT, Vol.1, pp. 338-340.
has been a great boon on servo torque requirement. The
[2]
overall weight of the bionic hand reduced with usage of K.Kannan and Dr.J.Selvakumar (2015), Arduino based
acrylic sheet and thereby the lower weight servos. The usage voice control robot, International Research Journal of
of flexible material for finger mechanism has made the Engineering and Technology (IRJET), Vol. 2, pp. 49-56.
actuation of finger mechanism easier. The response of the
finger mechanism at various actuation levels is optimum and [3]
Matthew R. Williams and Wayne Walter (2015),
desirable. The low cost and reliability of the bionic hand Development of over actuated biomemtic prosthetic
enhances the user feasibility and product dynamics. The hand, PLOS journal, Vol. 2, pp. 35-41.
inexpensive design and fabrication of bionic hand makes the
product available to more amputees, thereby increasing the [4]
Nayan M Kakoty and Shyamanta M Hazarika (2013),
reach of the product to the real world. The bionic hand is a Bio-Signals Controlled Prosthetic Hand, TEZU journal,
successful implementation of desirable attributes and finger Vol. 3,pp. 56-60.
mechanisms. The bionic hand proved to be working with
stable serial communication, process control and servo
actuation. [5]
P.S.Ramaiah, M.Venkateswara Rao and
G.V.Satyanarayana (2011), A Microcontroller Based
Four Fingered Robotic Hand, International Journal of
Artificial Intelligence & Applications (IJAIA), Vol.2, pp.
91-102.

X. CONCLUSION

Bionic arm is the most efficient upcoming technology

which can put many differently able people at ease with its
simple design and working. The methodology of the bionic
hand is really simple and easily adaptable unlike other
devices. It works with the help of voice commands thereby

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