© 2017 IJSRST | Volume 3 | Issue 2 | Print ISSN: 2395-6011 | Online ISSN: 2395-602X

National Conference on Advances in Engineering and Applied Science (NCAEAS)

16th February 2017
In association with
International Journal of Scientific Research in Science and Technology

Animatronic Hand Using Arduino

Jagruti P. Gour, Jayswini K. Shende, Karishma K. Kubde, Samiksha K. Kothekar, Prof. Pankaj S. Taklikar
S. B. Jain Institute of Technology Management and Research, Nagpur, Maharashtra, India

ABSTRACT
For some time we have been interested in making some sort of robot based on the Arduino. The idea is to change a
perception of remote controls for actuating manually operated robotic arm. The robotic hand is very useful for
paralysis and handicap person as well as in various medical field so , this paper discuss the design of an electronic
product known as animatronic hand based on wireless technology using XBee S2 , Arduino UNO board ,servo
motor, flex sensor. As the whole body of the robot would have been of much cost, we will only develop a hand
which will act as shadow hand.
Keywords : Animatronic, Arduino-UNO, Flex Sensor, XBee -S2, Servo Motor.

I. INTRODUCTION arduino-UNO and XBee technology. There are two main

parts of this project i.e. transmitter (Control glove) and
Animatronic hand is basically a robotic hand which is receiver (mechanical-electronic robotic hand). Control
designed by using a latest wireless technology. The glove consists of flex sensors. There are total five flex
history of animatronics begins with clock makers. Thus sensors placed separately on each finger on the glove.
hand replica of human hand which is called animatronic Human hand will control another robotic hand; so that it
hand. This project intends to implement an affordable is called as a control glove.
electronic product known as animatronic hand based on
wireless technology based on XBee-S2 as well as II. LITERATURE SURVEY
Arduino - UNO board. There are two main parts of
animatronic hand first one is electrical components and This paper discuss the robotic arm develop by using
second is mechanical structure that allows motion. Many MEMS-ACCERLOMETER technology. MEMS
times in our day to day life we face a problem with (Microelectromechanical System) motion sensor were
paralysis patients as well as handicap people as they are used to sense the movements. These gesture arm were
unable to do their work by their own hence in case of controlled by preloaded code i.e, (automatic) or via
these people an extra person should be there for them joystick .six motor were used, out of this two for
who help them to do their work hence this animatronic shoulder motion and wrist motion and one motor for
hand is very helpful for such people. This hand can elbow motion and gripping motion. [1]
make them independent somehow, In industries many
chemicals are used now a days especially in This paper discusses the robotic hand which records the
pharmaceutical companies every day they have to deal gesture using the MATLAB. The hand was implemented
with many chemicals in which some are soft but some using 3 steps, first step was hand segmentation the next
chemicals are hazardous to human being for their skin step was to track the position & orientation of the hand
like methyl isocyanate and many more , so to deal with to prevent error in the segmentation phase and the last
these kinds of chemicals animatronic hand is very useful. step they use the estimated hard state V out = V cc
The main aim of designing this hand is to reduce human (R2/R1+R2)
efforts and do the same task with less time using

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to extract several hard features to define the V out = V cc (R2/R1+R2)

deterministic process of gesture.This paper deals with
the design & development of a four fingered robotic Figure. 1 : Comparator Circuit
hand (FFRH) using 8-bit microcontroller sensors and
wireless feedback. The robot system has 14 commands 1. Block Diagram
for all the four fingers open and & closed, wrist up&
down, base clockwise & counter clockwise, peak &
place & home position to move the fingers. The main
object of this paper is to design & implementation of
FFRH for providing a simple reflexive grasp that be
utilized for a wide variety of object .The while structure
of the hand consist of the digits, sensor and wires for the
other unit of the hand.[3] This paper is highlight the use
of wireless communication & its application by
developing animatronic hand which can be used in many
field like medical, defence, chemical industries. Here,
instead of using actual human hand , they can replace it
by this wireless robotic hand . This animatronic hand
can be mounted on moving platform along with a
camera to dfuse the bomb from a safer distance without
any harm to human life. This hand can help paralysis
patients who can not move their hand by providing a
electronic hand which can work on voice command of
the bearer .basically there are two main parts of this
Figure 2. Transmitter circuit
project i.e. transmitter (control glove) & receiver
(mechanical electronic robotic hand).[4] This paper
2) Flex sensor: Flex sensor is a variable resistor that
presents the mechatronic design of a robotic hand for
gives variable resistance value after bending. Flex sensor
prosthetic applications. The main characteristic of the
is also called as potentiometer. When flex sensor will be
robotic hand is its biologically-inspired parallel
connected with analog pins of Arduino-UNO resistance
actuation system, which was based on the
of flex sensor can be measured. Value of resistance
behaviour/strength space of the Flexor Digitorum
increases with bending angles. Bending radius is
Profundus (FDP) and the Flexor Digitorum Superficial
inversely proportional to resistance value. By applying
(FDS) muscles. The direct relation between signal and
particular amount of voltage, resistance generated by
actuation system lends itself well to interpreting the
flex sensor is then compared by comparator circuit and
EMG signal from FDP and FDS. There have been may
output voltage value calculated.
different approaches taken in the development of an
effective prosthetic hand. [5]
3) Arduino-UNO: Arduino-UNO is ATMEGA-328
based microcontroller board. It has 14 digital
III. METHODOLOGY input/output pins in which 6 are analog pins , clock
cycle of 16 MHz quartz crystal, a USB cable or power
1) Comparator Circuit with AC to DC adapter. The ATmega328 AVR
microcontroller has 32 KB flash memory (with0.5 KB
occupied by the boot loader). It also has 2 KB of SRAM
and 1 KB of EEPROM. The board can operate on an
external supply from 6 to 20 volts. The microcontroller
can be programmed using Arduino-UNO specialized
software.

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V. WORKING

The whole working of project is divided into two parts

i.e., transmitter and receiver. As far as transmitter is
concerned, there are four main stages which are flex
sensor, comparator circuit, arduino-UNO and XBee
shield. Initially flex sensor is mounted on cotton or
woollen gloves, as finger bends to a certain angle flex
sensor also get bent at the same angel. As per the
property of flex sensor it gives different value of
resistance with different angles. This resistance value is
then gives to comparator circuit where output voltage
value is calculated by the voltage divider formula. As
resistance changes at different angles the value of
Figure 3. Receiver Circuit voltage is also changes. This value is then given to
arduino-UNO board at its input pins.
4) Servo motor: Servo motor is electrical motor with
great precision that rotates in different degrees. Servo
motor can turn 90 degree and 45 degree in either
direction for total 180 degree movement. Servo motor
expects to see a pulse in every 20 ms. How far motor
turns is depends on length of pulse. The input to its
control is a signal, either analog or digital, representing
the position commanded for the output shaft. Servo
motor requires sophisticated controller, often dedicated
module design specifically to the motor suitable for the
use in the control system. XBEE is a wireless
communication module that Digital built to the
802.15.4/Zigbee standards. The XBee shield simplifies
the task of interfacing XBee with an Arduino. It has 20
input/output pins. It has operating voltage of 5V DC.
XBee Shield has Status LEDs, Prototyping Area,
Arduino reset button ,Serial select switch , XBee socket.

IV. ALGORITHM
1. Start
2. Get the analog output from flex sensors.
3. Convert into digital form and send it to XBee
serially.
4. Send data wirelessly through XBee on transmitter
side.
5. Receive the data wirelessly via XBee on receiver
side.
6. Give the output to the servomotors accordingly.
7. Stop.
Figure 2. Flowchart

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As XBee-S2 shield provides interfacing to arduino-UNO Controlled Robotic Arm” ,in International Journal of
board. This voltage value is then sent to XBee-S2 Innovative Research in Computer and
transmitter pin and the data is send wirelessly to another Communication Engineering , January 2015,
XBee-S2 which is at receiver side. This data is received Amravati, India.
by another XBee-S2 at receiver side at its input pins. [4]. C.V. Vishal Ramaswamy, S. Angel Deborah, “A
The output voltage value is sent to another arduino-UNO Survey of Robotic Hand- Arm Systems”, in
board through output pins of XBee-S2 to input pins of International Journal of Computer Applications,
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[5]. P.S.Ramaiah, M. Venkateswara Rao,
to arduino-UNO at receiver side hence by various
G.V.Satyanarayana “A Microcontroller Based Four
voltage values servo motors starts rotating at various
Fingered Robotic Hand”, in International Journal of
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VI. RESULT [6]. Dr. Shreenivas Jog, “Animatronic Hand Using
Wireless Module”, in International Research Journal
A wireless animatronic hand was first tested with a of Engineering and Technology May 2016 Pune,
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single flex sensor at the transmitter side, the [7]. SwarnaPrabha Jena, Sworaj Kumar Nayak, Saroj
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VII. CONCLUSION
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