Robot-controlling Glove - Elisabet Delgado Mas

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Task

This project consists of a wearable glove and armbands that can be used to remotely control both physical (i.e. robotic hand) and virtual elements (i.e. 3D hand model).

With this concept, it is possible to build the glove and integrate it with Neuro-Inspired COmpanion (NICO), an open-source antropomorphic robot for multi-modal research [1].

Process

Achieved:

Fase 1. Potentiometers controller, v1 prototype (21.12.10)

• Controlling Nico hand with Arduino wooden console

• 
  

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Fase 2. Minimal glove, v2 prototype (21.12.17)

• 

Fase 3.0 Wearable (sewn) glove, v3 prototype (22.01.04)

• Sewn glove

• Fase 3.1 + Soldering, v3.1

• Fase 3.2 + Wireless component, v3.2

Progress

• 22.02-22.03 Gyroscope testing. Documentation writing.
• 22.01.07 Sewn glove with improvements.
• 22.01.03 Sewn glove first version.
• [Christmas Break]
• 21.12.17 Code and control via bending sensors.
• 21.12.10 Code and control via potentiometres.
• 21.12.03 Order necessary materials. Explore NICO’s code.
• 21.11.26 Redesign of the project using NICO (Neuro-Inspired COmpanion Robot).
• 21.11.20-21 Research of robotic and prosthetic hand 3D models, biomimetism, animatronics, human augmentation.
• 21.11.19 Kick-off meeting & FabLab visit.
• 21.11.10-17 Project Proposal

Note: Date format is 'yy.mm.dd'

Process

Achieved:

Fase 1. Potentiometers controller, v1 prototype (21.12.10)

• Controlling Nico hand with Arduino wooden console

• • video 1
  • video 2
• 
  

Fase 2. Minimal glove, v2 prototype (21.12.17)

• 

Fase 3.0 Wearable (sewn) glove, v3 prototype (22.01.04)

• Sewn glove

Pending:

• Fase 3.1 + Wireless component, v3.1

• Fase 3.2 + Unified box design, v3.2

Links

Basic wireless glove controllers and low-cost robotic hands

• Instructables - InMoov Hand | Arduino
• Instructables - Wooden Hand | Arduino
• Instructables - DIY Hand with Foam | Arduino
• Ada hand (derived from the Dextrus robotic hand, by the Open Hand Project and now Open Bionics).
  • YouTube Demo
  • Components and assembly: https://openbionicslabs.com/obtutorials/ada-v1-assembly
  • Printing: https://openbionicslabs.com/obtutorials/ada-v10-printing-instructions
  • 3D Model: https://www.thingiverse.com/thing:1294517
• Other glove controllers: https://create.arduino.cc/projecthub/lists/3813874
• Basic principle: https://www.youtube.com/watch?v=c9FuPdl3xCE

More advanced prosthetic-like robotic hands

• Applied Physics Lab (Johns Hopkins) - Modular Prosthetic Limb
  • Revolutionizing Prosthetics, program funded by DARPA
• GRAB Lab (Yale) - Highly Biomimetic Anthropomorphic Hand
• YouTube Series by Bill Cogley - Biomimetic Mechatronic Hand

Biomimetic Anthropomorphic

Exo hand

Other ideas

Extra fingers:

• The third Thumb
  • Vimeo Demo

Exo hand:

• Hackstarter - Bionic Wearable Exo Hand
• YouBionic - Bionic Wearable Exo Avatar Hand

Robotic arms:

• https://create.arduino.cc/projecthub/olanpelayo/hand-movement-controlled-robotic-arm-cd3e62
• https://create.arduino.cc/projecthub/zone-team/control-your-roboarm-with-your-smartphone-b61da6

+AI:

• OpenAI - Learning Dexterity, robot hand reinforcement learning to manipulate physical objects.

Wearable ASL gloves:

• SignAloud, https://www.washington.edu/news/2016/04/12/uw-undergraduate-team-wins-10000-lemelson-mit-student-prize-for-gloves-that-translate-sign-language/
  • Lemelson-MIT Program https://lemelson.mit.edu/award-winners/thomas-pryor-and-navid-azodi
• By Wearable Bioelectronics Research Group at UCLA
• Why Sign-Language Gloves Don't Help Deaf People, by Michael Erard. Article on concerns by the deaf community and historic overview since the 80s.

Animatronic Eyes:

• Animatronic Eyeball
• Animatronic Eye Mechanisms, YouTube Series by Bill Cogley
• How To Make Robots Move Smoothly, YouTube Arduino Tutorial by James Burton

Humanoid Robots:

• ABEL, + emotion recognition paper and video

Self-made Behance list with several glove and medical technology designs