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Indira Gandhi College Of Engineering


B.E. Instrumentation Engineering Major Project

Motion Controlled Robotic Arm using Flex Sensors

Group Members :-

Anoop Nair

Dipesh Shete

Nitin Somanathan

Ramanand Sardesai

Smt. Indira Gandhi College Of Engineering


Our project deals with controlling a bionic/robotic arm with the help of motion sensing
technology by Flex Sensors or Accelerometers. The system is basically a master-slave system
wherein the master motion sensing glove sits on hosts arm sensing motions of the finger and then
using this data to control the servos which control the finger movement of the slave
bionic/robotic arm. Using RF Tx Rx modules we are making this project wireless so that there is
distance between the master control system and the robotic arm.
This system can be widely used in industrial robotic arms as an add-on for griping purposes
this is a miniature system but by using highly precise sensors and actuators this system can be
manufactured at an industrial level and can be used in hazardous environment and for biomedical

Flex Sensors:-

Flex sensors are passive resistive devices that can be used to detect bending or flexing. The flex
sensor used in our project is bi-directional flex sensors that decrease its resistance in proportion
to the amount it is bent in either direction.


An accelerometer measures proper acceleration, which is the acceleration it experiences relative

to freefall and is the acceleration felt by people and objects. Put another way, at any point in
space-time the equivalence principle guarantees the existence of a local inertial frame, and an
accelerometer measures the acceleration relative to that frame.

Servo Motors:-
A Servo is a small device that has an output shaft. This shaft can be positioned to specific
angular positions by sending the servo a coded signal. As long as the coded signal exists on the
input line, the servo will maintain the angular position of the shaft. As the coded signal changes,
the angular position of the shaft changes. In practice, servos are used in radio controlled
airplanes to position control surfaces like the elevators and rudders. They are also used in radio
controlled cars, puppets, and of course, robots.

Smt. Indira Gandhi College Of Engineering

RF Tx & Rx module:-

RF:- Radio frequency (abbreviated RF, rf, or r.f.) is a term that refers to alternating
current (AC) having characteristics such that, if the current is input to an antenna,
an electromagnetic (EM) field is generated suitable for wireless broadcasting and/or
communications. These frequencies cover a significant portion of the
electromagnetic radiation spectrum, extending from nine kilohertz (9 kHz),the
lowest allocated wireless communications frequency ,to thousands of

Tx/Rx:- Transmitter and Receiver

Application:-This module helps us to make our project wireless. The master control system will
send the controlling signals through the transmitter(Tx) which will be received by the

Smt. Indira Gandhi College Of Engineering

Block Diagram:-

Motion Sensing Gloves Microcontroller

Rf Module

Robotic Arm

Servo motors and actuation Microcontroller


Smt. Indira Gandhi College Of Engineering

Project Status Date

Working model of a finger 15/11/2010

Final Synopsis 20/11/2010

Working model of the Robotic Arm 15/2/2011

Project Report 15/3/2011