GESTURE-CONTROLLED 3D-PRINTED ROBOTIC ARM UTILIZED GLOVE-EQUIPPED SENSORS

Abstract

This thesis presents a gesture-controlled, 3D-printed robotic arm that demonstrates the practical functionality of hand gesture technology, utilizing a dual ESP32 microcontroller system. One microcontroller is embedded in a sensor-equipped glove, while the other operates the robotic arm, enabling the precise translation of human gestures into three specific movements: rotation on the X-axis, movement along the Y-axis, and a grabbing motion. This setup ensures real-time, wireless communication and exemplifies a low-cost, scalable approach to human-robot interaction (HRI). The robotic arm, designed to be printed on compact 3D printers with no part exceeding 150mm, showcases the potential for educational and industrial applications. Specifically, it is adept at safely moving hazardous materials in chemical environments and conducting educational simulations, highlighting its versatility. The project aligns with the primary objectives of mimicking human hand functionality more efficiently than traditional joysticks or remote controllers, potentially transforming practices in surgical and hazardous environments. Key aspects of this research include the construction of the 3D-printed robotic arm and the development of a control system that mimics the glove’s movements, illustrating the transformative possibilities of integrating such gesture-based control systems into everyday robotic applications.