Robotic Hand with Force Sensors

Abstract

The focus of this work was the realization of a prototype of a robotic hand, with the ability to mimic the movements of the human hand, and determine the force exerted by manipulating different electronic elements. To carry out the process of elaboration, it developed in the SOLIDWORKS program the design of each part of hand (fingers, wrist and palm), taking into account the movements it can make, later with the help of a 3D printer and the CURA program, each designed part in SOLIDWORKS was printed to be assembled and the prototype of a human hand was obtained. To achieve the operation of this prototype, ARDUINO programming software was used, that allowed to control the movement of the prototype by interacting with the human hand through the use of a glove with the implementation of flexo sensors on each of his fingers in such a way that the prototype could mimic the different movements that the human hand exerts, with the use of this glove. Force sensors were subsequently implemented on each of the fingers of the prototype, so that they could determine the force exerted on each of these when manipulating different objects. Finally, the prototype of the robotic hand was physically obtained, with the ability to manipulate objects and determine the force exerted on each of your fingers.