Introduction

2023-24 ANIMATRONIC HAND USING ARDUINO UNO AND SERVO MOTORS
CHAPTER NO. 1
INTRODUCTION
1.1 PREFACE
This report focuses on understanding the simple and unique technique that is used for
human robot interaction in robotic hand gesture replication system. The aims to fabricate a dual
module system which synchronizes the real hand gesture with mechanical movement of the
designed hand module at the output end in real time. The first part input module (IM) is user-
controlled module which detects the real hand movement and convert it into signals and the
signals are transmitted to a receiver module comprising of a mechanical animatronics hand that
will process the incoming signals and performs the mechanical movement in coherence with
the received signal. The input module comprises of a glove integrated with flex sensors and the
Arduino board. 3D structure which is modelled as the real hand with the servo motors installed
on it is used as an output module for the replication of the generated gesture from input module.
This report describes the advantages of Flex Sensors Controlled Animatronics Hand are in the
environment which obstructs the physical approach of the humans and is not feasible for the
human body. Nuclear power plants or nuclear weapon production areas, sophisticated chemical
or pharmaceutical factories, bomb disposal department and Firefighting agencies etc. In all of
these scenarios, Personal control is essential yet environment restricts the physical presence of
human, therefore, this technique can be used as an alternative to automation so that an
individual can operate under such conditions without physically being present at the location,
preventing any unforeseen accidents and human casualties.
Fig 1.1 : Animatronic Hand
Dept. of ENTC Engg. Of G.P.KHAMGAON Page 1

In the 21st century, one of the defining technologies that have been a subject of
continuous innovation is automation and artificial intelligence. The aforesaid field of study has
a huge potential in the terms of industrial and scientific applications and it may even extend to
a commercial use in the future time where the thought of having a robotic apprentice is within
mankind’s intellectual reaches. In this report theoretical knowledge to develop optimized
practical approach in order to make useful papers using embedded systems. However, despite
all these potential benefits, there are still some key areas of interest where absolute human
control is essential and cannot be relied on automation to carry on the task or take the risk. In
light of this, the report of flex sensors-controlled animatronics hand provides an alternative to
automation in applications that require a human operator.
In respect to this report component selection, we have different variety of board which
we can use in our project which includes Raspberry-Pie, Texas instrument, Arduino but as we
know Arduino is considered as the most feasible embedded system for this project because it
is more flexible and more optimized and have more commercial worth than other embedded
systems. The problem for which we designed a Flex Sensors Controlled Animatronics hand is
used in the environment in which obstructs the physical approach of the humans and is not
feasible for the human body. This project can be used as an alternative to automation so that
an individual can operate under such conditions without physically being present at the
location, preventing any unforeseen accidents and human casualties. Purpose and Goals of this
project is operating our hand by using flex sensor and gloves or we can say design a cost-
effective glove integrated with the flex sensors in order to operate the robotic hand remotely.

1.2 PROBLEM DEFINATION
Animatronic hand plays a very important task in an industries and labs where, any
threating risk in human life. This report highlights a Robotic Hand which is controlled by the
human hand, in order to avoid human interaction in certain harmful applications. The
Animatronic hand is Robotic hand which is controlled with the help of Arduino, Servo Motors
and flex sensors. For example, the hand is put to use in the nuclear industries, chemical
industries where hazardous substances that may pose a threat to human life, are handled. Also
use in the medical assistance where doctor perform a surgical operation from a distant location,
which keep off the need of physical presence. The Animatronic Hand can also be helpful to
physically disabled patients, thereby reducing the dependency on another person.
In presence Scenario there are many industries where human hand must complete the
required task, but it may cause harmful effect on human skin and bones, for perform harmful
task we replace human hand with animatronic hand. So, this Robotic hand can be used to
perform same task and avoid the risk and required task can be achieved. It can be used as a
powerful aid for the physically challenged, it can be used for diffusion of Bombs where there
is a high risk of lives, it can be used in space for repairs of space station, it can also be used for
household applications.
As Future Scope, Digital camera can be placed on the robotic hand which will record
the motions of a hand if a robotic hand is at a long distance. Besides increasing the functions
and stability of the hand rehabilitation device, a virtual environment could be developed to
increase the interactivity of the stroke patient and the rehabilitation device.

1.3 OBJECTIVES
The main objective of this project is to design microcontroller based robotic hand controlled
by hand gesture. The goal of the project is to design a useful and fully functional real-world system
that efficiently translates the hand gesture into the movement of the hand. This project is based on
the technology to help the deaf community. This could be also further enhanced in various
applications such as robotics, automation systems, etc. we have designed the hand which moves,
forward, backward, left, right and stops based on the gesture of the user. The movement of the
robotic hand is done by using servo motors. It mimics the human hand on manipulating the
objectives by Servo motors. This undertaking is basically about the robot hands connected with
sensors copy to the human hands. The extent of this venture includes two sections which is
equipment and programming usage. In the equipment part, there are two other sub parts which is
classes as equipment plan and circuit design. The extents of this task are:
a) To manufacture robot hands with 15 level of opportunity fingers fit for applying free powers to
a got a handle on article.
b) To produce a Animatronic hand which mirror the human hand on controlling the items.
c) To control the development by utilizing glove to coordinate with hand and tele-operate by Sensor
wired module.
d) To configuration control portions of the robot by Arduino, flex sensors and servo motors.

CHAPTER NO. 2
LITERATURE SURVEY
Literature survey of any research field or subject is essentially required before

contributing in the research of the field. The literature review gives a detailed study of existing
published material for clear understanding of that area.
In 2021, AGRAWAL A.D. AND CHANDAK M.A., has present a paper

“ANIMATRONIC HAND” in which Robotic hands are still a long way from matching the
grasping and manipulation capability of their human counterparts. This paper presents an
acquisition method that comprehensively looks for the mimic configurations of the human
hand. The data obtained through this process is further analyzed, transformed, and then used to
synthesize a reduced configuration space of a robot anthropomorphic hand. The method rely
on a dimensionality reduction technique that provides a new basis of the full configuration
space, from which one can select a subset of the vectors forming that basis, and finally
obtaining a simpler configuration subspace. These vectors are called Principal Motion
Directions, and represent the coordinated motions captured by a sensitized glove on a human
hand and transferred to the robot hand. The characteristics and limitations of the animatronic
hand are discussed in this paper.
In 2022, Hassaan Qazi, Syed Muneer Ahmed, has present a paper “Flex Sensors
Controlled Animatronics Hand” . This paper focuses on understanding the simple and unique
technique that is used for human robot interaction in robotic hand gesture replication system.
The aims to fabricate a dual module system which synchronizes the real hand gesture with
mechanical movement of the designed hand module at the output end in real time. The first
part input module (IM) is user-controlled module which detects the real hand movement and
convert it into signals and the signals are transmitted wirelessly to a receiver module
comprising of a mechanical animatronics hand that will process the incoming signals and
performs the mechanical movement in coherence with the received signal. Arduino boards
integrated with their own microcontrollers and Xbee antennas are used to control both the input
and output modules for the completion of the perform gesture. The input module comprises of
a glove integrated with flex sensors and the Arduino board. 3D structure which is modeled as
the real hand with the servo motors installed on it is used as an output module for the replication

of the generated gesture from input module. This paper describes those advantages of Flex
Sensors Controlled Animatronics Hand are in the environment which obstructs the physical
approach of the humans and is not feasible for the human body.
In June 2022, “ANIMATRONIC HAND” by Virendra Sangtani, Manish Poswal, Ravi
Ram Meena, Saurabhmeena, Vikashyadav, Mohit Vishnani conclude that Animatronic hand is
a Robotic hand look like a human hand, can perform a special role in a task, where any risk in
human life. It is used to perform various task as a part of humanoid robot. Animatronic hand
copy the moment of human hand and complete the hard task which is not easily done by human
hand and any risk of human life. It is a mechanical hand which is controlled with the help of
Arduino. Flex sensors are mounted on human hand fingers and according to these fingers
moment the robotic arm move with the help of Servo motor which are assembled on robotic
hand. Robotic hand control wirelessly with the help of NRF24L01 transceiver module and
make less complex circuit design. Animatronic hand is simple to understand and easy to use.
In 2019, P.Gurusamy, A.Muthuraman, P.Ranjith has present a paper “Animatronic
Hand based on Arduino Controller” in which they research Human dextrous control is to create
human dextrous robot hand which approximates the flexibility and affectability of the human
hand by teleoperation techniques that will impart in master– slave habits. Glove works as ace
part and multi-fingered hand as slave. The correspondence medium among administrator and
multi-fingered hand is by means of KC-21 Bluetooth remote modules. Multi-fingered hand
created utilizing 5 volt, 298:1 rigging proportion small scale metal dc engines which controlled
utilizing L293D engine drivers what's more, actuator controlled the development of robot hand
joined with dextrous human capacity by PIC18F4520 microcontroller. The slave segments of
5 fingers structured with 15 Level of Opportunity (DOF) by 3 DOF for each finger. Fingers
configuration, by changed IGUS 07-16-038-0 encased zipper lead E-Chain® Link Transporter
Framework, utilized so as to shape imitate as human size. FLEX sensor, twist detecting
opposition utilized for both ace and slave part and connected as input to the framework, so as
to control position setup. At last, the insight, learning and experience parts of the human can
be joined with the quality, continuance and speed of the robot so as to produce appropriate
yield of this undertaking.

CHAPTER NO. 3
DESCRIPTION OF ANIMATRONIC HAND
3.1 INTRODUCTION
In the field of robotics and industrial equipment, use of proper method of handling the
objects, equipment etc. is very important from safety point of view. Traditional method of
handling the objects as well as equipment was done normally with the help of bare hands. With
the bear arms it is not possible to hold the equipment and objects for a large amount of time
and due to this there is a matter of safety as well as there is no proper precision. With the new
innovations in the field of electronics i.e., Animatronic hand, we can do all such tough tasks
with higher amount of precision and higher amount of safety.
So, in this project, electronic hand is developed which is controlled via control glove.
The control glove has flex sensors which detects the movements of fingers and accordingly
electronic hand perform the required tasks. This animatronic hand is able to be controlled
according to the controllers. It is capable of moving at the required degrees of freedom. It can
also pick up things upto to minimum desired weight. We can use it as shadow hand of ours
which is of various use. With the help of sensors this hand can provide detailed telemetry,
which can be exploited to generate innovative manipulation, control systems, or to provide
detailed understanding of the external environment.
The aims to fabricate a dual module system which synchronizes the real hand gesture
with mechanical movement of the designed hand module at the output end in real time. The
advantages of Flex Sensors Controlled Animatronics Hand are in the environment which
obstructs the physical approach of the humans and is not workable for the human body.
Nuclear power plants or nuclear weapon production areas, sophisticated chemical or
pharmaceutical factories, bomb disposal department and Firefighting agencies etc.

3.2 NEED OF ANIMATRONIC HAND
To avoid the scarcity of water which is a tough situation, borewells are dug all over the
world. But the careless management and improper completion of such wells lead to a situation
where such wells become an artefact of death rather than life. The number of reported cases
of a child falling in borewells is increasing day by day. Even with the advancement in science
and technology, a proper and risk-free rescue method for such a scenario is not yet made.
Existing robots are also not efficient enough to do a successful rescue. This is the reason why
we came up with this project. We have a mechanical based extension system for the extending
of the robot. Like pangolin sticky tongue, using animatronic hand we can ensure the safety of
the victim by holding safely and tightly. In addition to this hand, support from the bottom also
is there so that the total pulling force is evenly spread to the child's body. After successful
gripping of the child, he/she is pulled up using a mechanical chain system. We can also monitor
the child's condition using various sensors. A high-resolution camera is also used for perfect
gripping of the animatronics-based hands.

3.3 BLOCK DIAGRAM
Fig 3.3.1: Block diagram of Animatronic hand
1. The user wears a glove with flex sensor the gesture made by the user. The motion gets
imitate by glove.
2. Flex Sensor- Flex Sensor activate when the Signal is sensed by flex sensor. Flex Sensor
changes its resistance according to the rate of change of bending of sensors.
3. Arduino- this analogue signal coming from flex sensor is given at the microcontroller
called Arduino. It converts the signal into digital form. This occurs at the transmitter
end, due to motion in flex sensor. Which transmit signal path to controller. The
microcontroller processes these signals and encodes it. In controller overall action can
be monitored.
4. Servo motor- PWM signal coming from Arduino is receive by servo motors and it move
according to Arduino PWM signal and program. the received signal is decoded in the
required form and makes the servo motor run. When servomotor rotates the
Animatronic hand is also move because we tie threads to hand and servo motor shaft.

3.4 CIRCUIT DIAGRAM
Fig 3.4.1: Circuit Diagram of Animatronic hand
We build the circuit diagram in Arduino application called “ Diagram Cirkit Designer
1.3.2”. Cirkit Designer is a software circuit design tool that caters to designing breadboard
circuit layouts.
In our project the basic components of the glove are the hand itself, the servos, the
Arduino, the glove and the flex sensors. The glove is mounted with flex sensors variable
resistors that change their value when bent they’re attached to resistor of a constant value and
the other side to ground. The Arduino reads the voltage change when the sensors are bent, and
triggers the servos to move a proportional amount as per the program.

3.5 COMPONENT USED

3.5.1 FLEX SENSOR
a. Introduction-
A simple flex sensor is 4.5" in length. As the sensor is bent, the resistance across the
sensor increases. Flex sensors are sensors that change in resistance depending on the amount
of the bend on the sensor. They are often used in gloves to sense finger movement. Flex sensors
are simple in construction.
As shown in fig 3.5.1 they convert the change in bend to electrical resistance the more
the bend, the more the resistance value. They are usually in the form of thin strip long that vary
in resistance. They can be made unidirectional or bi-directional. Flex sensors are passive
resistive devices that can be used to detect bending or flexing.
The flex sensor shown in the fig 3.5.1 is a bi-directional flex sensor that decreases its
resistance in proportion to the amount it is bent in either direction. The ranges of the flex sensor
are 10kΩ to 40kΩ. The Flex sensor offers variable resistance readings, resistance for the un-
flexed is 10kΩ and for the flexed the resistance is 40kΩ. Flex sensors are analogue resistors.
They work as variable analogue voltage dividers. Flex sensor is a unique component that
changes resistance when flexed. Flex sensor is bent in one direction the resistance gradually
increases.
Fig 3.5.1: Flex Sensor

b. Fabrication of Flex Sensor-

Now we are going to replace this ready-made flex sensor into handmade flex sensor. To
make the flex sensor we need some following components –
• Aluminium foil
• Conductive foam
• Insulating tape
• Jumper wires
• Scissor
1. First, we cut the Aluminium foil and Conductive foam into 1x 9 cm length.
Fig3.5.2 a: Aluminium foil measurements Fig 3.5.2 b: Aluminium Foil
2. Take some insulating tape and stick it on each other parallelly. Take the metal wire
and stick it on tape carefully
Fig 3.5.3

3. Stick the aluminium foil on metal wire and conductive foam on aluminium foil. Do
same procedure without using conductive form.
Fig 3.5.4: Fabrication of flex sensor
4. Now we have to stick these both material on each other as shown in figure. The
sticking will be in this order.
Insulating tape>metal wire>aluminium foil>conductive foam>aluminium foil>metal
wire>insulating tape.
We need 3 flex sensors so we repeat this procedure again 2 times.
Fig 3.5.5: Ready flex sensors

c. How it works -
Flex sensors are analogue resistors, they work as variable analogue voltage divider.
Inside the flex sensors are carbon resistive elements within a thin flexible substrate. More
carbon means less resistance, when the substrate is bent the sensor produces a resistance output
relative to the bent radius. The higher the resistance value yielding smaller radius. The nominal
resistance at 0 degree is 10kΩ, at the bent of 45 degree the resistance will be increased. At 90
degrees will give 30-40 K Ω. The Bend Sensor lists resistance of 30-250 K Ω and if the flex
sensor is further bent the resistance will be further increased. The flex sensor operating
temperature is -45F to 125F. The Flex point Bend Sensor is somewhat different from the simple
flex sensors. It has a much bigger range of resistance.
Fig 3.5.6: working of flex sensor

d. Specifications-
• Life Cycle: >1 million years
• Height: 0.43mm (0.017")
• Temperature Range: -35°C to +80°C
• Flat Resistance: 10K Ohms
• Resistance Tolerance: ±30%
• Bend Resistance Range: 40K to 125K Ohms (depending on bend radius)
• Power Rating: 0.50 Watts continuous. 1 Watt Peak
e. Features -
• Angle Displacement Measurement
• Bends and Flexes physically with motion device
• Possible Uses
- Robotics
- Gaming (Virtual Motion)
- Medical Devices
• Physical Therapy
• Simple Construction
• Helps to provide more accurate data.
f. Applications-
Flex sensors may be used in robotics to determine joint movement or placement. They
may also be used like whiskers for wall detection. The sensors we are making are also pressure
sensitive so they can also be used as bumper switches for wall detection or pressure switches
on robotic grippers. For bio-metrics, the sensor can be placed on a moving joint of athletic
equipment to provide an electrical indication of movement or placement. A few of the sensors
can be incorporated onto a glove to make virtual reality glove.

3.5.2 ARDUINO UNO

a. Introduction-
Arduino is open-source electronics prototyping platform based on flexible, easy to
use hardware and software. It’s intended for artist, designers, hobbyists, and anyone
interested in creating interactive projects in environment.
The Arduino can sense the environment by receiving input from a variety of sensor and
can affect its surroundings by controlling lights, motors, and other actuators. The
microcontroller on the board is programmed using the Arduino UNO programming language
and the Arduino development environment. Arduino projects can be stand-alone or they can
communicate with software running on a computer. To interact with the outside world, the
program sets digital pins to a high or low value using C code instructions, which corresponds
to +5 V or 0 V at the pin. The pin is connected to external interface electronics and then to the
device being switched on and off.
The Arduino Uno can be powered via the USB connection or with an external power
supply. The power source is selected automatically The ATmega328 has 32. It also has 2 KB
of SRAM and 1 KB of EEPROM which can be read and written with the EEPROM library.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The
Uno and version 1.0 will be the reference versions of Arduino, moving forward. The Uno is
the latest in a series of USB Arduino boards, and the reference model for the Arduino platform;
for a comparison with previous versions.
Fig 3.5.7: Arduino UNO Board

b. Power -
The Arduino Uno can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come either
from an AC-to-DC adapter battery. The adapter can be connected by plugging a 2.1mm centre-
positive plug into the board's power jack. Leads from a battery can be inserted in the Ground
and VIN pin headers of the power connector.
c. Communication -
The Arduino Uno has a number of facilities for communicating with a computer,
another Arduino, or other microcontrollers. The ATmega328 provides UART TTL (5V) serial
communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the
board channels this serial communication over USB and appears as a virtual com port to
software on the computer. The '16U2 firmware uses the standard USB COM drivers, and no
external driver is needed. However, on Windows, a .inf file is required. The Arduino software
includes a serial monitor which allows simple textual data to be sent to and from the Arduino
board. The RX and TX LEDs on the board will flash when data is being transmitted via the
USB-to-serial chip and USB connection to the computer (but not for serial communication on
pins 0 and 1). A Software Serial library allows for serial communication on any of the Uno's
digital pins. The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus.
d. Memory -
The ATmega328 has 32 KB It also has 2 KB of SRAM and 1 KB of EEPROM which can be
read and written with the EEPROM library.
e. Input and Output -
Each of the 14 digital pins (0-13) on the Uno can be used as an input or output, using pinMode()
, digitalWrite() , and digitalRead() functions. They operate at 5 volts. The Uno has 6 analogue
inputs, labelled A0 - A5.
Each pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor of
20-50 k Ω. In addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low
value, a rising or falling edge, or a change in value through attachInterrupt() function.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.
f. Physical characteristics -
The maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively,
with the USB connector and power jack extending beyond the former dimension. Four
screw holes allow the board to be attached to a surface or case. Note that the distance
between digital pins 7 and 8 is 160mil (0.16"), not an even multiple of the 100mil
spacing of the other pins.
g. Specifications-
• Microcontroller: ATmega328
• Operating Voltage: 5V
• Input Voltage: 7-12V
• Digital I/O Pins: 14(0-13)
• Analogue Pins: 6(0-5)
• DC Current per I/O pins: 40mA
• DC Current for 3.3V pins: 50mA
• Flash Memory: 32KB
• SRAM: 2KB
• EEPROM: 1KB
• Clock speed: 16MHz

3.5.3 SERVO MOTOR
a. Introduction-
Servo refers to an error sensing feedback control which is used to correct the
performance of a system. A servo motor consists of three major parts: a motor, control board,
and potentiometer (variable resistor) connected to output shaft, with servo motors you can
position the motor shaft at a specific position or angle using control signal. The motor shaft
will hold at this position as long as the control signal not changed. This is very useful for
controlling robot arms, unmanned airplanes control surface or any object that you want it to
move at certain angle and stay at its new position. Servo motors may be classified according to
size or torque that it can withstand into mini, standard and giant servos. Usually mini and
standard size servo motors can be powered by Arduino directly with no need to external power
supply or driver.
The servo has 3 wires:
Brown wire: ground
RED wire: +5v
Orange wire: control signal
Fig 3.5.8: Servo Motor
The third pin accept the control signal which is a pulse-width modulation (PWM)
signal. It can be easily produced by all microcontrollers and Arduino board. This accepts the
signal from your controller that tells it what angle to turn to. The control signal is fairly simple
compared to that of a stepper motor. It is just a pulse of varying lengths. The length of the pulse
corresponds to the angle the motor.

b. Inside the Servo Motor-

To fully understand how the servo works, you need to take a look under the hood. Inside
there a pretty simple set-up a small DC motor, potentiometer and a control circuit. The motor
is attached by gears to the control wheel. As the motor rotates, the potentiometer's resistance
changes, so the control circuit can precisely regulate how much movement there is and in which
direction it is. When the shaft of the motor is at the desired position, power supplied to the
motor is stopped. If not, the motor is turned in the appropriate direction. The desired position
is sent via electrical pulses through the signal wire. The motor's speed is proportional to the
difference between its actual position and desired position. So, if the motor is near the desired
position, it will turn slowly, otherwise it will turn fast. This is called proportional control.
Fig3.5.9: Angle positioning depends on the length of the pulse-

c. Specifications-
• Modulation: Analogue
• Torque: 4.8V: 25.0 oz-in (1.80 kg-cm)
• Operating Speed at 4.8 volts (no load) :0.12 sec/ 60 degrees
• Weight: 9.0 g
• Dimensions:
Length: 0.91 in (23.1 mm)
Width: 0.48 in (12.2 mm)
Height:1.14 in (29.0 mm)
• Rotational Range: 180°
• Pulse Cycle: ca. 20 ms
• Pulse Width: 500-2400 µs
• Operating Voltage: 4.0 to 7.2 volts
• Temperature range: 0-55C
d. Features-
• High efficiency.
• High output power relative to their size.
• More constant torque at higher speed.
• Closed-loop control.
• Quiet operation.
• Highly reliable.
• High ratio of torque to inertia.
• High acceleration.

e. Advantages-
• High speed and high torque.
• Servo motors also maintain their torque rating at high speed, up to 90% of the rated
torque is available from a servo at high speed.
• Servo motors are quiet, available in AC and DC drive, and do not vibrate or suffer from
resonance issues.
• Servo motors usually have a small size.
• Servo motors have a large angular force (torque) comparing to their size.
• Servo motors operate in a closed loop, and therefore are very accurate.
• Servo motors are electrically efficient.
f. Disadvantages-
• Servo motors are also much more expensive than stepper motor.
• Servo motors often require gear boxes, especially for lower speed operation.
• The requirement for a gearbox and position encoder makes servo motor designs more
mechanically complex and increase the maintenance requirements for the system.
g. Applications-
Servos are extremely useful in robotics and automation. Servo motors are used across
various automation fields specifically where the motor must be able to operate at a range of
speeds without overheating, operate at zero speed while being able to retain its load in a set
position, as well as operate at low speeds. Robots utilize servo motors because of their smooth
commutation and accurate positioning. The aerospace industry makes use of servo motors in
their hydraulic systems to contain system hydraulic fluid. The servo motor is relatively small
in size, yet very powerful. The Servos are used for precision positioning. They are used in
robotic arms and legs, sensor scanners and in RC toys like RC helicopter, airplanes and cars.
Servo motors are small, have built- in control circuitry and have good power for their size.

3.5.4 HAND GLOVES
a. Why use a glove device-

Traditional data input device has a limited range of the amount of data they can input
at a given time because they are limited to one, two or three degrees of freedom. Degrees of
freedom are measure of the number of positions of which the device can be read as inputting a
different data value.
Gloves offer for superior data input potential since they provide multiple degrees of
freedom for each finger and the hand as a whole. By taking orientation of fingers and relative
position of hand, glove devices can track an enormous variety of gestures each of which
corresponds to a different type of data entry. This gives the glove remarkably rich expressive
power, which can be used in the inputting of extremely complicated data.
Fig3.5.10: Gloves
b. What the gloves device measures-

Measure finger flexure and hand orientation, to a greater are lesser extent. Each type of
glove measure either four or five fingers for the degree of flexure, measurement range from the
fingers being extended straight in the line with the palm, to being curled up against the palm
as in making a first. Glove can track hand orientation by measuring roll, pitch and yaw or
position of the hand as a whole.

CHAPTER NO. 4
SYSTEM IMPLEMENTATION AND PROGRAMMING
4.1 DESIGN METHODOLOGY

The basic components of the glove are the hand itself, the servos, the Arduino, the glove
and the flex sensors. The glove is mounted with flex sensors variable resistors that change their
value when bent they’re attached to one side of voltage divider with resistor of a constant value
on the other side. The Arduino reads the voltage change when the sensors are bent, and triggers
the servos to move a proportional amount.
4.1.1 Circuit of flex sensor-
We take 3 flex sensor which will stick on gloves, each has 2 pins, we connect 2 wires
at each pin of sensor and 2nd end of wire are connect to VCC through 10k Ω resistor and a
ground. We connect 3 single strand wire in between of resistor and 2nd end of flex sensor wire
and these 3 wires are connect to Arduino analogue pin (A0, A1, A2).
Fig 4.1.1: Flex sensor connections
4.1.2. Servo motor connection-
As we take 3 servo motor to control 5 fingers. Each servo has 3 pins we connect all
ground pins and VCC pins of servo to Arduino ground and VCC. Connect the PWM pin of
servo motor to Arduino pins 9,10,11.

Fig 4.1.2: Servo motor interface
4.1.3. System-
Fig 4.1.3: Final Connection

4.2 WORKING PRINCIPLE OF ANIMATRONIC HAND
We have used 5V for Arduino and same voltage used from Arduino to flex sensors. For
Servo Motors we used same Power, then we used circuit to connect Sensors and servo motors
to Arduino. Circuit is designed in a very compact manner, so that less wires are used and shown
with 100% portability.
First of all, we connected 5V and passed it through resistor of 10k and then attached
analogue Signal. One side of flex sensor are connected to the resister second end and other side
is connected to ground. In similar way, all 3 sensors are connected to Arduino. Analogue
Reading is attached from pins A0 – A2 with each of 3 sensors.
Servo Motors are then attached to power and ground through Arduino and each of them
are connected to digital pins 9,10,11 of Arduino through end pin of motor.
Flex Sensors send analogue input to Arduino then Arduino converts them to digital
reading and sends these readings to digital pins which make Servo Motors to move as Human
Fingers move.
But this all-hardware work does not make the system functional until it needs some sort
of instructions using Arduino IDE to do so; we made a program and uploaded it.

4.3 FLOW CHART OF PROGRAM

4.4 ALGORITHM OF PROGRAM
1. Start
2. Get the analogue output (A0, A1, A2) from flex sensors which are connect to gloves.
3. Convert this analogue output into digital form.
4. Send data on transmitter side that is on Arduino UNO.
5. Receive the data on receiver side on Arduino UNO (9,10,11)
6. Give the output to the servomotors accordingly.
7. Result in movement of fingers.
8. Stop.
4.5 ADVANTAGES
1. Precision: Robotic arms can perform exact tasks, making them ideal for
applications where accuracy is crucial, such as manufacturing, surgery, and
assembly.
2. Repeatability: They can repeat the same motion or task consistently without
fatigue or variation, increasing production processes' efficiency.
3. Safety: Robotic arms can handle hazardous materials and perform dangerous
tasks, protecting human operators from potential harm.
4. Versatility: These arms can be programmed and adapted for various tasks,
making them versatile in applications ranging from industrial manufacturing to
medical surgery.
5. Increased Productivity: Robotic arms can work continuously without breaks,
leading to higher productivity and throughput in tasks such as assembly lines or
material handling.
6. Handling: These arms are ease to handle in a simpler manner and also requires
less maintenance.
7. Employment: The technology doesn’t bring any unemployment issues as it only
safeguards the employees.

4.6 DISADVANTAGES
1. Weight: Some robotic arm may be heavier than their natural counterparts, which
can make them more difficult to use and may cause discomfort.
2. Lack of Sensation: Many current robotic arms do not offer the same level of
sensation or feedback as natural arm, which can make it difficult for users to gauge
the amount of force they are applying.
3. Limited Range of Motion: Some robotic arm may not have the same range of
motion as natural arm, which can limit their usefulness for certain tasks.
4. Complexity: Robotic arm are complex devices that require specialized training to
operate effectively. This can make them more difficult to use than natural arm,
especially for people who are not familiar with technology.
4.7 APPLICATIONS
1. Robotic arms are typically used in industry.
2. Repetitive autonomous robots perform one task repeatedly based upon predetermined
movements and specifically located objects.
3. More complex actions are executed based upon sensor processing.
4. If object orientation or position is unknown, arms are often paired with machine
vision and artificial intelligence to identify the object and subsequently control the
hand.
5. It uses to require delicate movements similar to human hands, such as grasping.
6. Moving small parts with high precision, and handling soft or delicate objects.
7. It can be used as a powerful aid for the physically challenged.
8. It can be used for diffusion of Bombs where there is a high risk of lives.
9. It can be used in space for repairs of space station.
10. It can also be used for household applications.

4.8 LIST OF COMPONENTS
Sr. No. Components Specifications Quantity Price
1. Arduino UNO 01 800rs

UNO R3 Board
2. Flex Sensor FS-L-055-253- 03 559rs each

MP
3. Servo Motor Sg90 Micro 03 200rs each

Servo Motor
4. Resistor 10K 03 15rs each
5. Corrugated Plastic 30 x 20 Inch 01 100rs

,3mm Thick
6. Glove Latex Medical 01 40rs

Disposable
gloves
7. Connecting wires Male-male As per required 300rs
Female-female
Male-female
8. USB Cable 1 foot 01 80rs
9. Breadboard Themisto TH- 01 90rs

B400 400 points

CHAPTER NO. 5
SYSTEM ANALYSIS AND ITS CONCLUSION
5.1 CONCLUSION
Animatronic hand is wired hand, it is used to perform varies tasks as a part of Humanoid
Robot. Human hand contains the flex sensors mounted on the fingers. The wired hand is first
tested with the single finger, as the one finger bend the flex sensor is also bend and the
resistance of flex sensor changes. It is observed at receiver or artificial hand side that the
artificial hand finger bend or move at same angle or same manner according to the human hand
fingers. The moment of robotic finger is done with the help of servo motor. Same as above all
the five fingers of the artificial hand is work in same manner according to the human hand
finger. The programming is done in Arduino with the help of software Arduino from PC. The
programming is done on both transmitter side and receiver hand side Arduino. When the flex
sensor bends the signal goes to Arduino and then Arduino sense the moment and transmitted
finger moment with the help of servo motor circuit. The servo motor circuit on artificial hand
receive the moment of finger and the Arduino give the task to servo motor to move same speed
and angle according to the moment of fingers of human hand. The programming of Arduino is
most important part of Animatronic hand running process.
The overall system performs reasonably well. The user is able to carry out comfortable
and precise functions of the robotic Hand through the use of a sensor-based control glove.
Furthermore, the robotic Hand is capable to carry normal routine function as human hand does.
The microcontroller accepts inputs from the sensor and generates the proper control signals
based on those inputs
The design, fabrication and testing of an Animatronic robotic hand system integrating
innovative interactions of electrical, mechanical, software and control solutions has been
successfully accomplished. The integration of sensory and actuation devices was complex and
troublesome development phase where all the connections and operations needed to be
programmed precisely to minimize garbage values and reduce fluctuations. In addition to this,
adding wireless capability to the system was a daunting task which nevertheless was achieved.

It can be widely used where there are harmful things to a human hand. It is
basically a futuristic project which will be used to make Human hand. Future efforts will be
made to make this hand movable from one place to another, more flexible and more precise if
possible be implemented in computers. There is no denying that robotic technologies make life
simple. With the help of Animatronic hand, more than one tasks are done at a same time. It is
time saving technology. It is widely use when there is hazardous work or risk related to human
life. Its scope will increase if it works in air, water and if its finger moves more precisely.
Research is done to improve its working move from one place to another and carry load. Its
cost can be reduced.

5.2 SYSTEM OBSERVATION
Fig 5.2.1: observation of animatronic hand

5.3 FUTURE SCOP OF ANIMATRONIC HAND

We will work on this project in future and make it accessible for all those needy and
disabled persons who cannot afford costly Robotic Hand/Arm. Further robotic hand will be
made for dangerous things when it will be wireless and can be used from far places without
hindrance. Now, Sensors are used for moving fingers afterwards we will make it auto for all
those works which need not variable instructions. Another form of this hand will be access
from software wirelessly without sensors which will reduce cost as well.
Digital camera can be placed on the robotic hand which will record the motions of a
hand if a robotic hand is at a long distance. Besides increasing the functions and stability of the
hand rehabilitation device, a virtual environment could be developed to in-crease the
interactivity of the stroke patient and the rehabilitation device. It can also crease fun for the
patient and increase the rehabilitation efficiency potentially.

REFERENCE
[1] Agrawal A.D. AND Chandak M.A ‘ANIMATRONIC HAND’ World

Research Journal of Biologically-Inspired Computing ISSN: 2278-8492 & E-
ISSN: 2278-8506, Volume 1, Issue 1, 2012, pp.-12-15.
[2] Hassaan Qazi1, Syed Muneer Ahmed2 ‘Flex Sensors Controlled
Animatronics Hand’ Journal of Electronics, Computer Networking and Applied
Mathematics, ISSN: 2799-1156, Vol: 03, No. 01, Dec 2022-Jan 2023.
[3] Jagruti P. Gour, Jayswini K. Shende, Karishma K. Kubde, Samiksha K.
Kothekar, Prof. Pankaj S. Taklikar , S. B. Jain ‘Animatronic Hand Using
Arduino’ Institute of Technology Management and Research, Nagpur,
Maharashtra, India.
[4] “ANIMATRONIC HAND” by Virendra Sangtani, Manish Poswal, Ravi Ram
Meena, Saurabhmeena, Vikashyadav, Mohit Vishnani From Swami Keshvanand
Institute Of Technology, Management And Gramothan, Jaipur, Rajasthan, India.
[5] Literature Review and Proposed Research by Alba Perez Gracia Draft date
June 16, 2006.
[6] HannesFillipi (2007)“Wireless Teleoperation of Robotics Arms”, Lulea
University of Technology: Master Thesis
[7] Hands Overview Slideshow Slide (2010),:Retreived August 23 ,2010; from:
http://graphics.cs.cmu.edu/nsp/course/16-899/.
[8] Ikuo Yamano and Takashi Maeno ‘Five-fingered Robot Hand using
Ultrasonic Motors and Elastic Elements’ Proceeding International
Conference on Robotics and Automation Barcelona, Spain (2005).
[9] “A Survey of Robotic Hand- Arm Systems by” C.V. Vishal Ramaswamy , S.
Angel Deborah International Journal of Computer Applications (0975 – 8887).
Volume 109 – No. 8, January 2015

[10] ‘ARDUINO BASED ANIMATRONIC HAND’ by Makthal Goverdhan

Rao,Abbugari Hemant Raj,Boggarapu Sai Rohit,Koppala Ram Prasad
International Research Journal of Engineering and Technology (IRJET)
[11] World Research Journal of Biologically-Inspired Computing ,ISSN: 2278-
8492 & E-ISSN: 2278-8506, Volume 1, Issue 1, 2012, pp.-12-15. Available
online at http://www.bioinfo.in/contents.php?id=254
[12] Journal of Electronics, Computer Networking and Applied Mathematics
ISSN: 2799-1156,Vol: 03, No. 01, Dec 2022-Jan 2023,
http://journal.hmjournals.com/index.php/JECNAM

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2023-24 ANIMATRONIC HAND USING ARDUINO UNO AND SERVO MOTORS

Fig 1.1 : Animatronic Hand

Dept. of ENTC Engg. Of G.P.KHAMGAON Page 1

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1.2 PROBLEM DEFINATION

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Literature survey of any research field or subject is essentially required before

In 2021, AGRAWAL A.D. AND CHANDAK M.A., has present a paper

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3.2 NEED OF ANIMATRONIC HAND

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3.3 BLOCK DIAGRAM

Fig 3.3.1: Block diagram of Animatronic hand

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3.4 CIRCUIT DIAGRAM

Fig 3.4.1: Circuit Diagram of Animatronic hand

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3.5 COMPONENT USED

Fig 3.5.1: Flex Sensor

Dept. of ENTC Engg. Of G.P.KHAMGAON Page 11

b. Fabrication of Flex Sensor-

Fig3.5.2 a: Aluminium foil measurements Fig 3.5.2 b: Aluminium Foil

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Fig 3.5.4: Fabrication of flex sensor

Fig 3.5.5: Ready flex sensors

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Fig 3.5.6: working of flex sensor

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3.5.2 ARDUINO UNO

Fig 3.5.7: Arduino UNO Board

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e. Input and Output -

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• Input Voltage: 7-12V

• Digital I/O Pins: 14(0-13)

• Analogue Pins: 6(0-5)

• DC Current per I/O pins: 40mA

• DC Current for 3.3V pins: 50mA

• Flash Memory: 32KB

• Clock speed: 16MHz

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3.5.3 SERVO MOTOR

Fig 3.5.8: Servo Motor

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b. Inside the Servo Motor-

Fig3.5.9: Angle positioning depends on the length of the pulse-

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• High output power relative to their size.

• More constant torque at higher speed.

• High ratio of torque to inertia.

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3.5.4 HAND GLOVES

a. Why use a glove device-

b. What the gloves device measures-

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4.1 DESIGN METHODOLOGY

Fig 4.1.1: Flex sensor connections

4.1.2. Servo motor connection-