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Development of 4 Axis Shadow Robot Arm Integrated With Flex Sensor Mechanism

Mohamad Dzulhelmy bin Amari 1,2, Sukarnur Che Abdullah2, Leong Jie Sheng 1, and Lee Yong Aik 1
1. School of Engineering, KDU University College, 40150 Shah Alam, Selangor, Malaysia.
2. Faculty of Mechanical Engineering, University Technology MARA (UiTM), 40150, Shah Alam, Selangor, Malaysia

Abstract— Robotic arms have seen widespread use in various industries in the recent years. However, most robotic arms are controlled to move in a predetermined path. The goal of this study is to develop a wirelessly controlled robotic arm which is able to mimic the user’s movements. The arm enables easier programming of robotic arms and increases ease of use of such arms. Methods of collecting the anthropometric measurements of the human body to be translated to digital data have been investigated. Integration of flex sensor for the fingertips movements were used to mimic by detecting the bending moment from the user. As for elbow detection, variable resistor was used to detect the changes by converting the changes of angle at the elbow structure to resistance value. Both of the data were mapped accordingly to the exoskeleton arm receiver by using wireless Bluetooth to ensure all structure move accurately with even slight changes done by the user. The optimization and filtering of the recorded data was also conducted in the study to develop a robotic arm that is able to mimic the human arm motion to the highest accuracy possible.

Index Terms— robotic arm, flex sensor, bending moment

Cite: Mohamad Dzulhelmy bin Amari, Sukarnur Che Abdullah, Leong Jie Sheng, and Lee Yong Aik, "Development of 4 Axis Shadow Robot Arm Integrated With Flex Sensor Mechanism" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 3, pp. 441-446, March 2020. DOI: 10.18178/ijmerr.9.3.441-446

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.