Wireless Humanoid Bionic Arm on Robotic Vehicle

 This system has two wireless controllers mounted on gloves, one for each hand of the operator. Here system precisely replicates the finger motion of one hand of the operator onto the motion of the humanoid arm. The RF receiver is interfaced with microcontroller to control the driver IC which is responsible for controlling the movement of the arm. The transmitter circuit consists of an accelerometer sensor which is interfaced to atmega microcontroller. This transmitter circuit sends commands to the receiver circuit which indicates whether to move the robotic arm in any directions or whether to grip an object or release it. Also using the hand gestures of the other hand of the operator, motion of robotic vehicle is controlled.

Block Diagram

 

Hardware Specifications 

• At mega Microcontroller 

• Accelerometer &  Gyroyro sensor  

• RF Tx Rx 

 • Bluetooth Modul

• Finger Motion Sensor Gloven Finger Motion Sensor Glove

 •Resistors 

• Capacitors

 • Transistors

 • Cables and Connectors Cables and Connectors 

• Diodes

Software Specifications 

• Arduino Compiler 

 •  CMC Programming Language: C

ATmega328

 The Atmel 8 bit bit AVR RISC based microcontroller combines based microcontroller combines 32KB ISP flash memory with read memory with read  while write capabilities, 1write capabilities, 1 KB EEPROM 22 KB SRAM 23 general purpose I/O lines, 32 general purpose , 23 general purpose I/O lines  32 general purpose working  registers , three flexible timer/, three flexible timer/counter  with compare modes, internal with compare modes, internal and  external interrupts , serial programmable, serial programmable USART, a byte, a byte--oriented 2oriented 2--wire wire serial interface , SPI serial port, 6 serial port, 6 channel 10channel 10 bit convA/D converter(8(8 channels channels in  TQFP and QFN/MLF packages), programmable packages), programmable watchdog timer watchdog timer with with internal   oscillator  , and five software selectable power saving modes. The , and five software selectable power saving modes. The device operates between 1.8device operates between 1.8--5.5 volts. The 5.5 volts. The device  achieves throughputs eves throughputs approaching 1approaching 1 MIPS per MHz.

Features

High Performance, Low Power AVR® 8--Bit Microcontroller Bit Microcontroller

– Advanced RISC Arch Advanced RISC Architecture itecture

– 131 Powerful Instructions 131 Powerful Instructions

– Most Single Clock Cycle Execution Most Single Clock Cycle Execution

– 32 x 8 General Purpose Working Registers 32 x 8 General Purpose Working Registers

– Fully Static Operation Fully Static Operation

– Up to 20 MIPS Throughput at 20 MHz Up to 20 MIPS Throughput at 20 MHz

–On--chip 2chip 2--cycle Multiplicycle Multiplieerr

Flash Program Memory: 32 k bytes

EEPROM Data Memory: a Memory: 1 k bytes 

SRAM Data Memory: 2 k byte

I/O Pins: 23

Timers: Two 8--bit / One 16bit / One 16--bit 

A/D Converter: 10--bit Six Channel bit Six Channel

PWM: Six Channels

RTC: Yes with Separate Oscillator

MSSP: SPI and I²C Master and Slave Support

USART: Yes

External Oscillator: up to 20MHz