090

88

:


Arduino

. 4

.5

NASA General Motors Robonaut 2

.6

Pierre and Marie Curie, 2

.7

(EFPL)

.8

(EFPL)

.9

.10
SAR-401 Android Technics

.11

Festo ExoHand

.12

Sandia National Laboratories Sandia Hand

.13

Gloreha Idrogenet

.14

Fujitsu

.15

Florida International University Hutch

.16

Michigan State University of USA

.17

Finger Rehabilitation Glove ctivelink Co. Ltd (Panasonic )

.18

.19

.20

.21

.21

.22

.23

.23
2

.24

.24

.25

.26

.26

.27

()

.28

()

.29

.30

.31

.32

.35

Arduino Uno Rev 3

.37

.39

.41

.44

48

Tower pro MG995

.49

Tower pro MG996R

.50

Flex sensor 4.5 SEN -08606

.51

Arduino Uno Rev3 .51

53

.55

55

servo motor

.56

.57

.58


,
.
.T

.
,
, .
,

.

 ,
,
.
1985
PUMA 560
- .
1987. 1990
Computer Motion AESOP
(Automated Endoscopic System for Optimal Positioning),

(Food and Drug Administration, FDA.
,
NASA
(teleprescence surgery
telesurgery).
da Vinci
Intuitive Surgical 1995. ,
,

FDA
.

,
. da Vinci
.

.
, ,

.[23]

 NASA General Motors

.
2007 Robonaut 2, R2, 2011
.

,
.
, Human Grasp Assist device ,
K-Glove or Robo-Glove .
R2
,
,
.
,

. ,
,
.

, Robo-Glove
. ,

15 - 20
,
10 .
NASA ,
, Robo-Glove

", Dana Komin, GM
.
[16]

 ,
,
Pierre and Marie Curie, . ,
,
.
,
,
.
, , ,
, .
.
, .
,
.
H Vronique Perdereau, ,
25 2013:
" ,
. "
"
, ,
.
, . "
[15]
7

 , , .

(EFPL),

Lifehand 2,
, .

.

- ,
, 36 ,
,
.
,
.
,
(
). , ,

. , ,
,

( ). ,
, , ,
, .
, , .
,
,
.
[25]

(EFPL),
(LASA),
IEEE Transactions in Robotics,
9


,
.
,
, ,
.
,
.
,
.

,
,
-
, ..,
.
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53 13
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( ) 200 .
. 48
3
.
,
Lancet.
,
.

11

 SAR-401 Gagarin Star City

Centre, . .

.

,
,
.

Android Technics
, Vladislav Sychkov , :
,
, pickup .

. " Oleg Gordiyenko,
Gagarin Cosmonauts' Training Centre Research Institute :."
.
SAR-400 2014. [26]

12

SAR-401

Festo ExoHand,
,
.


. Hannover Messe
, , ExoHand
. , 27 ,

,
. . ExoHand
( ),
,
. ,
, 16 , ,
. ,
" " .
ExoHand :
, ,

, , .

,
. ,
-
13

 ,
.
, thePowerGripper
NanoForceGripper, . Festo

AirArm, . ExoHand Festo

, .[27]

ExoHand

14

 Sandia National Laboratories

. Sandia Hand,



, ,
.

,
Sandia Hand

.
.
,
.
, Sandia Hand
,
.
Sandia
LUNAR .
DARPA
. ,
Sandia Labs
,
. [13]

15

 Gloreha ,

.

, ,
.

, .
software ,
.

. software ,

.

Idrogenet , . project
Gloreha 2008
.
2010 2011.
.
,
,
, . [17]

Fujitsu NFC (Near Field

Communication), ,
16

,

.
Fujitsu,
,

,


(HMD, Head-mounted Display).
(accelerometer)
, NFC.
HMD Bluetooth.
, ,
,
.
,
Fujitsu .
(, , , ,
), 98%.

2015.
Mobile World Congress (24-27 ), [20]

Fujitsu
Florida International University (FIU)),
Oculus Rift( )
17


.
FIU


.
2012.
TeleBot, 1,80 , 40
Hutch.

.
Hutch Oculus
Rift
.
telebots, ,
, ,
, , , ,
. [14]

Hutch

18


Michigan State
University

.

,
.
Carol Slomski, Michigan
State University,


"",

.
, .


.
, ,
.
"
, Ranjan Mukherjee, Michigan. ",
. ,
,
."
Mukherjee ,
.
. [18]

19

 Finger Rehabilitation Glove

. ctivelink Co. Ltd.
Panasonic.
, ,
, ,


,
. [24]

,
,


.

20



,
,

,

.

.
.
.

21


.

.

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( )

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22



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( [12] )

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23


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24


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26

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27

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[12]

29

13
(10mm) ,



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30





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31


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. 0,8mm.
,
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.

32

33


,
.
,
.
.
,
.
(nylon cable tie 2.5 x 150 mm)
.

,
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.

34



(flex sensors )
.
2 .
flex sensors ,
.
flex sensors
. ,
- , .
10 50 kilohms.


.
,
,
. ,

, 5 volt
,
, 10k .(
10k [11])
.

(arduino uno ).

35



led
,

, R1,
R2 ,R3 ,R4, R5 flex sensors R10, R11 ,R12 ,R13, R7
.
36

 .
flex sensors ,
, ,
, (arduino uno )

.

37



.


.

servo
.
servo

servo,
, servo
. Volt Amber
( )
~3 ~5~6 ~9~10~11 ( ~
PWM .)
38

Arduino Uno Rev3

Arduino ,
/,
39

 Wiring ( C++
, C++ ). Arduino

Processing, Max/MSP, Pure Data, SuperCollider. Arduino 14 pin,

0 13, .
5V 40mA.

pin 0 1 RX(led) TX(led)

. ,
, USB
Serial-Over-USB pin 0
(.. Arduino pin 1).

pin 2 3 interrupt (interrupt 0 1

). ,

,
** . interrupt
.

pin ~3, ~5, ~6, ~9, ~10 ~11

PWM (Pulse Width Modulation),

. , LED
pin
8bit (256 0- 255- )
40

 - . T
PWM
127, 2.5V
5V,
0 5V.

Arduino, ANALOG IN,

6 pin, 0 5.
ADC (Analog to Digital Converter)
.
1.1V, ( 2 5V)
pin AREF
. , pin AREF 3.3V
pin
1.65V, Arduino 512.
, 6 pin,
pin / 14
.
pin 0~5 14~19 .

Uno Rev3
atmega328

pin
pin

[22]

41

 Arduino Wiring, C/C++

AVR ATmega, C
C++. compiler AVR gcc C
AVR libc. C, Arduino
, ,
C. ,
,
hardware Arduino. :

42


LOW

int

HIGH

int

INPUT

int

OUTPUT

int

pinMode

(pin, mode)

digitalWrite

(pin,pinstatus
)

digitalRead

int

(pin)

analogRead

I
nt

(pin)

analogWrite

(pin, value)

delay

(time)
43

0

false.
1
true.
0

false.
1
true.


pin pin
pin

mode (INPUT
OUTPUT ).

pinstatus (HIGH
LOW)
pin.


pin (0 LOW
1 HIGH)
pin .

0 1023,

pin
0
Vref.

pin

(PWM).
value



0 255 (..
value127,

).


time ms. delay.

 setup()
loop()
while(true).
[22]

,
.
#include <Servo.h>

Servo myservo0;
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;

//
//
//
//
//

servo
servo
servo
servo
servo

0
1
2
3
4

int potpin0 = 0; // pin 0

int potpin1 = 1; // pin 1
int potpin2 = 2; // pin 2
int potpin3 = 3; // pin 3
int potpin4 = 4; // pin 4
int potpin5 = 5; // pin 5

int val0; // pin 0

int val1; // pin 1
int val2; // pin 2
int val3; // pin 3
int val4; // pin 4

44

 servo
Val C/C++
.

void setup()

myservo0.attach(9); // servo.0 pin 9

myservo1.attach(10); servo.1 pin 10
myservo2.attach(11); // servo.2 pin 11
myservo3.attach(6); // servo.3 pin 6
myservo4.attach(5); // servo.4 pin 5
output input
pin PWM pin
void loop()
{
val0 = analogRead(potpin0); // //
val0 = map(val0, 300, 800, 300, 0); // servo
myservo0.write(val0); // value 0 servo 0
delay(0); // servo

val1 = analogRead(potpin1); // //
val1 = map(val1, 350, 800, 200, 0); // servo
myservo1.write(val1); // value 1 servo 1
delay(0); // servo

val2 = analogRead(potpin2);// //
val2 = map(val2, 350, 800, -200, 300); // servo
myservo2.write(val2); // value 2 servo 2
delay(0); // servo

45

val3 = analogRead(potpin3);// //
val3 = map(val3, 300, 800, -200, 300 ); // servo
myservo3.write(val3); // value 3 servo 3
delay(0); // servo
val4 = analogRead(potpin4); // //
val4 = map(val4, 0, 900, 700, 0); // servo
myservo4.write(val4); // value 3 servo 3
delay(0); // servo.
}

(void loop) ,
Val
servo,( map ()
val )
, Val ,
servo .
delay (0),

.
.

46


,
, servo ,
.

servo
.
28cm 10 cm

47

10
cm

28cm

10cm

19cm
.

48

5cm
3cm
3cm

19cm

5 cm 3cm
3cm.
,



.

.

49


servo .

servo 11 cm 10cm,
, .
servo moter
,

.
11cm

pcb
servo
led .

10cm

servo
,
servo pcb .

50

51

52


, ,



,
.
TowerPro MG996R - Standard Servo TowerPro MG995 - Standard Servo
.
Flex Sensor 4.5" SEN-08606
sparkfun. Arduino uno
rev3 Ardunino
datasheet ( )
.

TowerPro MG995 - Standard Servo

53

Rotational
180
Range:
Pulse Cycle:
20 ms
Pulse Width:
1000-2000 s
Connector Type:
JR

Modulation:
Torque:

Speed:
Weight:
Dimensions:

Analog
4.8V:
138.9 oz-in (10.00 kgcm)
4.8V:
0.20 sec/60
1.94 oz (55.0 g)
Length:
1.60 in (40.6 mm)
Width:
0.78 in (19.8 mm)

Motor Type:
Gear Type:
Rotation/Support
:

Height:
1.69 in (42.9 mm)
Coreless
Metal
Dual Bearings

54

TowerPro MG996R - Standard Servo

Modulation:
Torque:

Speed:

Weight:
Dimensions:

Analog
4.8V:
130.5 oz-in (9.40 kg-cm)
6.0V:
152.8 oz-in (11.00 kg-cm)
4.8V:
0.17 sec/60
6.0V:
0.14 sec/60
1.94 oz (55.0 g)
Length:
1.60 in (40.6 mm)
Width:
0.78 in (19.8 mm)

Gear Type:
Rotation/Support:

Rotational Range:
Pulse Cycle:
Pulse Width:
Connector Type:

Height:
1.69 in (42.9 mm)
Metal
Dual Bearings

180
20 ms
1000-2000 s
JR

55

Flex Sensor 4.5" SEN-08606

-Life Cycle: >1 million
- : 0.43mm (0.017")
- : -35C to +80C

- : 25K Ohms
- : 30%
- 45K to 125K Ohms
-Power Rating : 0.50 Watts . 1 Watt
Peak

- Flex .
PART LENGTH
73.66 [2.900]
ACTIVE LENGTH
55.37 [2.180]

6.35 [0.250]

How to Order - Stock Flex Sensor

FS

0055

Series

Model

Active Length

Resistance

Connectors

FS = Flex Sensor

L = Linear

0055 = 55.37mm

253 = 25K Ohms

ST = Solder Tab

FLAT ( )
45 BEND ( )
90 BEND ( )

56

253

ST

" buffer

."

" Threshold Switch - op amp

,
input

flex ,
..

"

op-amp


.. . "

Arduino Uno rev3

()
()
Digital I / O Pins
Pins

I /
O Pin
DC 3.3V Pin
Flash Memory
SRAM
EEPROM

ATmega328
5V
7-12V
6-20V
14 ( 6 PWM)
6
40 mA
50 mA
32 KB ( ATmega328 ) 0,5 KB
bootloader
2 KB ( ATmega328 )
1 KB ( ATmega328 )
16 MHz

58

59

servo,
servo
,
amber volt servo
amber
volt
servo,
,

Arduino

Arduino pin Vin 5
Volt atmega
328
.
:
avrdude: verification error, first mismatch at byte 0x0000
0x0c != 0xf
avrdude: verification error; content mismatch

. atmega 328

servo amber volt

,

Arduino
.

60

 servo

servo flex sensors.

, delay(10)
,
delay()

servo 10 millisecond
input ( ) 10
millisecond .
delay
()
(flex sensors )
servo ,

.
.

delay()
, ,


.


( )

.

61

,
.

.
.

.

, .

.

.

62


Arduino and kinect projects by
Enrique Ramos Melgar and Ciriaco Casto Diez with Przemek Jaworski

[1]

Make :Arduino Bots and Gadgests by

Kimmo Karvinen Tero Karvinen

[2]

Arduino internals by
Dale Wheat

[3]

Arduino projects to save the world by

Emery Premeaux with Brian Evans

[4]

Beginning Android ADK with Arduino by

Mario Bohmer

[5]

Beginning Arduino Programming by

Brian Evans

[6]

Environmental Monitoring with Arduino by

Emily Gertz & Patrick Di Justo

[7]

Getting Started With Arduino 2ndEd by

Massimo Banzi

[8]

Practical Arduino Cool Projects for Open Source Hardware by

Jonathan Oxer Hugh Blemings

[9]

Programming Home with Arduino and Android by

Mike Riley

[10]

SIK GUIDE by
SparkFun

[11]

IV
anne M.gilroy, Brian R. MacPherson, Lawrence M. Ross Markus Voll,Karl Wesker
[12]

63


http://www.robaid.com/
[13]

http://singularityhub.com/
[14]

http://www.upmc.fr/en/

[15]

http://robonaut.jsc.nasa.gov/GM/
[16]

http://www.gloreha.com/index.php/en/
[17]

http://www.msu.edu/
[18]

http://www.innerbody.com/
[19]
http://www.fujitsu.com/
[20]

https://www.sparkfun.com/
[21]

http://www.arduino.cc/
[22]

http://www.roboticoncology.com/history/

[23]

http://www.gizmowatch.com/

[24]

http://www.unicampus.it/

[25]

http://voiceofrussia.com/

[26]

http://www.festo.com/

[27]

64