Design of wireless controlled robotic hand

Thanks to the rapid technological development, robot usage in human life increases day by day. Various kinds of robots that are designed for different tasks aim to increase the quality of human life by replacing or reducing required human power in related areas.
Being able to interact robots from a distance by using wireless communication not only provide mobility and ease of use to the user but also promote the usage of robots into various areas.
Considering these, this study aims to design a lower degrees of freedom robotic hand with respect to the natural anatomy of the hand and control it by the help of wireless communication protocols. Throughout the study, nine degrees of freedom robotic hand was designed, finger motions were modelled and simulation studies were carried out. Also, giving brief information about IEEE 802.15.4 standard, known wireless communication types were compared and the most suitable one for the task was selected as XBee S2 wireless communication platform. Control of robotic hand was provided with five flexible sensors, which were sewn on the glove on each finger. In this thesis, for the first time, characterization studies about flexible sensor was carried out and before starting to control the robotic hand, calibration was made according to the working principle of the flexible sensors. Except thumb, two independent motion for each robotic finger were provided by taking two measurements from each flexible sensor. In addition, the robotic hand fingers were kept in the same position with the fingers of the human hand by using of servo motors.
Control of the robotic hand was decided to be carried out by using Arduino platform and XBee modules. Future works related with this study was also discussed and listed in conclusion part.