Full-Movement Simulation of Humanoid Robot Hand Controlled by Sensory Glove

Abstract

The humanoid robots as well as the 5-finger robot hand have gradually appeared in life with more and more functions. This paper presents a design of system with a sensory glove and software to simulate fully movements of humanoid robot hand with the spread and flexion movements of the fingers. The kinematic problem and 3D model of the robot hand with 22 rotational degrees of freedom is built in this study according to the structure of the human hand. The glove uses 17 sensors of GY-521 6DOF IMU MPU6050 with the main board of Arduino mega 2560 to collect the movement data of phalanges and carpal in the real time. The measured data filtered by Kalmann filter is transmitted to the simulation software on the computer through the serial port to update the full movement of the 3D robot hand model. The first version of the sensorized glove and the software was successfully created and tested with the result showing that the 3D robot hand model followed well the human hand movement although there is still a large delay.