K. Vigneshwarar, PG scholar,, have been kinds of sensing technology realized and applied to the Sethu Institute of Technology, Virdhunagar,. Tamilnadu, India. J. Selvakumar, PG scholar, Kalasalingam University, Srivilliputhur. Guided by: Prof. Dr .R. Sukumar , HOD of C&C, Sethu Institute of Technology. development of a data glove. Most of them are subject to provide high accuracy, high reliability, and high capability in measuring the degree of freedom (DOF) of human hands. They are mostly built with flex sensors attached on the finger joint positions of the hand. When the fingers are bent, the sensors are also flexed and the generated outputs are measured. Then, the bending angles of the fingers are calculated. When users wear the data gloves, the stretching and bending of the finger joints very often occur. It leads to a reduction in the lifetime of the sensors and the accuracy of measurement. According to the outputs of sensors, the data gloves can be grouped into two classes: one produces linear outputs, and another produces nonlinear outputs. Either linear or nonlinear data gloves should be calibrated before they are activated in the applications. The calibration process of nonlinear data gloves is not so easy owing to the lack of output references of nonlinear sensors. The following depicts the most commonly used sensors for hand tracking applied to the development of glove based input devices. In recent years, sensory data gloves have been extensively used along with the popularization of virtual reality(VR) applications. The data glove is a multisensory device that generates a large amount of data and is more complex than other input devices. However, most researchers still adopt the data glove because its natural interfacing characteristic with the human being is the way to improve system

Abstract- Data glove or cyber glove is an input device for human–computer interaction. It is worn like a glove that uses various sensor technologies to capture physical data such as bending of fingers. In this project, the data glove is employed to control the arm of a robot, which can be used in many applications. These applications include the control of arm of a crane machine for heavy weight lifting, surgery, medical electronics and in some of the chemical industrial applications also. In this project, a prototype of the arm of a crane machine and a data glove is developed. We use the data glove to control the arm. Using this one can easily and more accurately do any operation. This avoids the stress and strain taken by the machine operator. Index terms- Data glove, cyber glove, wired glove, man-machine interface, robotic arm, power glove. 1. INTRODUCTION Associated with the available input devices for VR, hand tracking technology is the most popular one. Such glove-based input devices let VR users apply their manual dexterity to the VR activities. Hand-tracking gloves currently marketed include: Sayre Glove, MIT LED Glove, Digital Data-Entry Glove, Data- Glove, Dexterous Hand Master, Power Glove, Cyber Glove, VPL Glove, and Space Glove. Now a day, several

the data glove is employed to control the arm of a robot. The magnetic field may be intruded by metallic objects in the environment. Such sensors may suffer from acoustic reflections if they are surrounded with hard walls or other acoustically reflective surfaces. because too many sensors greatly increase the complexity of a data glove system and reduce its portability. Figure 1. This avoids the stress and strain taken by the machine operator. SYSTEM MODEL Data glove or cyber glove is an input device for human–computer interaction. System model 3. We use the data glove to control the arm. Using this one can easily and more accurately do any operation.manipulations that are applicable in many specific fields. The output unit is nothing but the synchronous motor. each of which is usually installed on the finger joint position. In this project. industrial manufacturing of CAD/CAM applications . we have used AT89C52 controller. surgery training of medical applications. THE DATA GLOVE . The control unit is the microcontroller. 3) Magnetic tracking sensor: It uses a source element radiating a magnetic field and a small sensor that reports its position and orientation with respect to the source. particularly in immersive VR systems. There are three different used to perform various actions. The input unit get its input from the data glove. Low-cost data gloves that contain a few sensors are available today on the market. which decrease the accuracy of measurement. the data glove has been increasingly employed in the areas of tele operations and robotic control. In order to achieve high capability in measuring the DOF of a hand. It is worn like a glove that uses various sensor technologies to capture physical data such as bending of fingers. many sensors should be attached to the data glove. 1) Acoustic tracking sensor: This kind of sensor uses high frequency audio signals to track the movements of the fingers. Then.1. The motor is drive by motor driver. and so on. a photocell sensor is placed at the other end of the media to measure the intensity of the signal. At present. entertainment sports of VR systems. The schematic is as shown below in figure no. 2) Optical tracking sensor: This sensor generally uses an LED or infrared signal as the source which is conducted toward a transmission media like flexible tubes or fiber optics. 2 2. They are the control unit. In this paper. the input unit and the output unit. It is not practical for widespread applications. 4) Resistance tracking sensor: This sensor uses a variable resistance material whose resistivity is varied according to the bending degree of the sensor. here we use a H bridge to facilitate the motor driving action. which can be used in many applications.

3 miniature encoders’ fabricated using MEMSCMOS technology are desirable with sensor footprint of less than 5 x 5 mm2 2) Haptic Perception Haptic perception is achieved using tactile and force sensors. capacitive. is often achieved using encoders’ technology for robot arms and end-effectors. a tactile sensor measures the pressure exhibited by an object on a membrane which deflects proportionally to the applied pressure or force. Resistive. This perception is essential for handling objects. optical and magnetic encoders have been studied for this purpose with each principle possessing distinctive properties [18]. In most applications. such as the angular position of the arm’s elbow and wrist. These are often implemented using piezoelectric or piezoresistive materials such as Zinc Oxide or Lead Zirconate Titanate (PZT). Thus. the skin provides sensorial information to the brain via a variety of nerve endings that react to physical stimulations such as changes in temperature and pressure. Linear and angular velocity can be extracted from encoders’ data by differentiating the position measurements with respect to time. while shear load measurements can detect whether . 1) Proprioception Proprioception. haptic perception and exteroception. In the most simplistic form. Haptic perception enables the recognition of objects via the sense of touch. These transduction principles of operation are illustrated conceptually in Figure 2. providing feedback on the amount of force or grip applied on the objects. In robotic applications.Three analog to digital conversion units are placed on the thumb finger. Thus in this case. there exists no single sensor with sensing capabilities comparable to the human skin. especially in the fingers. Membrane deflection also affects the capacitance between the substrate and the membrane. Sensors play a critical role in the development of robotic arms and end-effectors. another method of implementing tactile sensors is through capacitance measurement [7]. a dedicated sensor must be integrated in the system in order to measure each and every desired variable. This sensorial information can be broadly classified into three major categories: proprioception. Principle of transduction In general. Proprioception provides feedback on the position of body parts. detection of normal loads as well as shear loads is desirable in robotic end effector applications. This is due to the tightness of the available space. such as joints position measurements. Many techniques exist to convert the deflection of the membrane into an electrical signal. Figure 2. a unique challenge arises with respect to the integration of encoders on the joints. Normal load measurements provide information on the griping force exerted on the object. as well as angular position of the joints. For end-effector applications however. elbow joint and near the under arm. These can be either absolute or incremental and can measure linear position. while exteroception allows the perception of changes in physical variables in reaction to external stimuli. In the human anatomy.

These two components of the applied load can be equally detected using other technologies such as strain gages and optical devices. In reality. The sensing technology used here is exteroception technology. the same physics that govern an exteroceptive parameter also govern a different haptic parameter.Most commonly. Conversely. as their mode of operation requires the deflection of a membrane. and thus is more cost effective in comparison to piezoelectricity and piezo resistivity [12]. the resolution of a distributed tactile sensor defines the number of tactels on a given surface of the sensor.It uses the principle of variable resistance to perform the conversion of analog movement to digital signal. a capacitive sensor with top electrodes in a comb-like structure can detect the proximity of an object to the fingers (exteroceptive). referred to as tactels. are incorporated together in a distributed structure constituting the tactile sensor. as well as the collision of the object with the fingers (haptic). each being sensitive to external loads. Load measurements through strain gages integrated in a Wheatstone bridge is a well established procedure. Capacitive tactile sensors are most sensitive to normal loads.or not the object is slipping during handling maneuvers. In some cases. which consequently dictates the overall sensitivity of the sensor. . such as tactile and thermal feedback provided by a single sensor. Tactels can be thought of as image pixels. These can often be sensed by incorporating appropriate sensors in the structure of the hand. piezoelectric and piezo resistive materials can be employed to detect normal loads as well as shear loads generated by the surface traction between the object and the sensor face during slippage [10] . Similar to digital imaging. This is achieved by monitoring the fringe capacitance of two adjacent electrodes as a function of the changes in the dielectric constant influenced by the proximity of the object to the electrodes [14]. Potentiometers can be used an candidate for exteroception technology. Other techniques. have also been successfully demonstrated [19] Figure 3. [b] Contact haptic mode In this paper. The principle of operation is shown in Figure 2. However this technology requires the implementation of a camera in the structure of the sensor and the incorporation of image processing techniques. Optical measurements on the other hand can provide significant accuracy in the readings [16]. we have proposed the design of data glove using only three sensors. most notably in 4 the fingers. For instance. 3) Exteroception Exteroception on robotic arms and endeffectors is implemented using dedicated sensors. arrays of individual sensors. A dual proximity-tactile sensor for exteroceptive and haptic feedback. The analog movement is nothing but the movement of fingers. The integration of exteroceptive sensors within the structure of tactile sensors is a common practice gaining more momentum in the field. [a] Proximity mode. parameters such as temperature and humidity are relevant to robotic applications. A single tactile sensor is unable to detect the haptic perception of all fingers of a robotic end effector. elbow joint and movement supported by underarm.

A popular application for this type of robot is a computer numerical control machine (CNC machine). Also six different movements of was 5 [6] Carrozza.F. ICRA ’03. & Ajuria.. Taipei Taiwan. No. 24. . ISSN: 1050 –4729.. Zin. 3.. IEEE Transactions on Robotics. this mechanical arrangement simplifies the Robot control arm solution. The entire frame work uses only three sensors to detect the gesture of our hand. & Zu. J. H.e. No. 6. L. The simplest application is used in milling and drawing machines where a pen or router translates across an x-y plane while a tool is raised and lowered onto a surface to create a precise design. (2003). Aviles.. we have used synchronous motors for facilitating the motor action. B. No. & Salisbury. CONCLUSION The design of a prototype of a robot arm and data glove was completed. F. Journal of Field Robotics.. We have calibrated the data glove so as to avoid simultaneous conflictions that results due to simultaneous movement of different joins along the hand. A Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i. P.A. In this paper. y and z units for its movement. Design and Analysis of a Hybrid Mobile Robot Mechanism with Compounded Locomotion and Manipulation Capability. M.. A method for the study ofposition in highly redundant multibody systems in environments with obstacles. & Dario. The future work involves the design of wireless data glove. K. tested using the data glove and fruitful result was obtained. P. (April 2002). C. Haidacher. R. ISSN: 1556 – 4959 [4] Borst. Among other advantages. results in cost reduction unlike using costly sensors. Vol. They are often quite large. pp. P. ISSN: 1552 – 3098 5.. Experimental Validation and Field Performance Metrics of a Hybrid Mobile Robot Mechanism. The functioning of arm in all direction was tested using switch. M. G. I. G. (257 – 262). M. (1262 – 1273). S. (2008). Proceedings of the2003 IEEE International Conference on Robotics and Automation. The Development of a Novel Prosthetic Hand – Ongoing Research and Preliminary Results. (2002). Journal of Mechanical Design. A linear robot or Cartesian robot is a simple robot that uses only three simple Cartesian co-ordinates namely x.. Fischer. pp.. 6.Employing this potentiometer. ISSN:1042-296X [2] Ben-Tzvi. J. THE CARTESIAN ROBOT We have prototype the arm of a crane machine using a linear robot.. (250 – 267). C. (May 2010). No. Vol.C. Vol.Milne. R. 18.IEEE Transactions on Robotics. M. Micera. R.M. J. Zecca. & Hirzinger. (2008). Cartesian coordinate robots with the horizontal member supported at both ends are sometimes called Gantry robots. November 2003 [5] Camarillo. Carlson. ISSN: 1050 –0472 [3] Ben-Tzvi. Liu. (December 2008). 27. D. C. pp. 7.S. This has result in significant reduction of cost. REFERENCES [1] Agirrebeitia. they move in a straight line rather than rotate) and are at right angles to each other. 130. (1 – 13). 2. (2002). (2010). Mechanics Modeling of Tendon-Driven Continuum Manipulators. (July 2008). Goldenberg. Vol. DLR Hand II: Experiments and Experiences with an Anthropomophic Hand. A. pp. 4..W. de Bustos.

38. 2. Takahashi. Srinivasan. IEEE Transacations on Robotics and Automation. J. ISSN: 0093-9994 [15]Seraji. An Integrated TactileThermal Robot Sensor With Capacitive Tactile Array. H. Journal of American Chemical Society ACS Nano. (2005). No. (2006). Parallel ArrayInAs Nanowire Transistors for Mechanically Bendable. pp. Vol. (2001).. K. Fan. K. T. pp.S.. pp. IEEE Transactions on Industry Applications. T. Vol. & Kwon. P. 4.C. A Polymer-Based Flexible Tactile Sensor for Both Normal and Shear Load Detections and Its Application for Robotics. ISSN: 1057 – 7157 [13]Nakano. 18. pp. 5. (37 – 47). (June 2002). T. S. 5.K. 1. Vol. P.H. M. A.A. ISSN: 1530-437X [18]Tobita. 3. (108 – 114). N... No. ISSN: 1042-296X [8] Cheah. Kawamura.. (April 1993). ICRA ’06. in press [9] Chirikjian.. & Beeby. E. Ultra High Frequency Electronics. (2010). IEEE Transactions on Haptics. Journal of Robotic Systems. C. M. pp.M... 16. G-H.IEEE/ASME Transactions on Mechatronics.S. S. ISSN: 1042-296X [16]Takahashi. & Lee. 7. (692 – 702).. Vol. Chappell. (June 2007). (2010)... K. No. Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand.. (889 – 894). Orlando FL. (1993). A Novel Thick-Film Piezoelectric Slip Sensor for a Prosthetic Hand. No. (125 – 139). 52. & Tachi. (April 2005). A. Ling. C-S. & Ming. M. IEEE Transactions on Robotics. pp. Kajitani. M. (Augsut 2003). E-S.. (2007). & Kawahito. No.P. Proceedings of the IEEE International Conference on Robotics and Automation. No. Adabi. Kamiyama. Vol. (2005). pp. No. IEEE Sensors Journal. Niknejad. Vol. G. Kanamori. (February 2002). (2007). 7.. (585 – 594). pp. 1. K. (752 – 761). pp. A CMOS Rotary Encoder Using Magnetic Sensor Arrays.ISSN: 1530-437X 6 . J-H. No. Takei. IEEE Transactions on Industrial Electronics. (556 – 563). (October 2005). Hirano. Journal of Microelectromechanical Systems.. & Kim. Vol. 3. H.(January – March 2010). (595 – 600). Design and Analysis of Some Nonanthropomorphic. S. Biologically Inspired Robots: An Overview. Vol. (2003). Vol. M. 12. ISSN: 1050-4729. K. IEEE Transactions on Robotic Automation. Y-J. M. ISSN: 0278-0046 [19]Yang. 2. & Kim. Ohira. A Rotary Encoder Based on Magneto-Optical Storage. & Javey. No. 2. (May 2007). T. 10. Approximate Jacobian Control for Robots with Uncertain Kinematics and Dynamics. Kyung. D-S.(December 2001). (June 2007). pp. (87 – 97). 9. D. pp.. 23. F. Vol. (2005). Quantitative tactile display device with pin-array type tactile feedback and thermal feedback. (85 – 90).. M. Vol. pp. IEEE Sensors Journal. M. & Arimoto. 1. (2007). A.. S. 5. (710 – 713) [17]Tarokh. A. Cranny. ISSN: 1939 – 1412 [7] Castelli. No. & Sun. May 2006 [12]Hwang.S. IEEE/ASME Transactions on Mechatronics. Seo. S. Z. No. Motion control of 7-DOF arms: The configuration control approach. Vol. K-U. White. Inverse Kinematics of 7-DOF Robots and Limbs by Decomposition and Approximation. 19. (February 2005). (2002).. ISSN: 1552 – 3098 [10]Cotton. ISSN: 1083-4435 [11]Fahn. No. Development of a Data Glove With Reducing Sensors Based on Magnetic Induction. ISSN: 1083-4435 [14]Sato. 3.

Sign up to vote on this title
UsefulNot useful