Tele-Operated Robotic Hand with
Sensor Glove
Mouhyemen A. Khan
Arian Yusuf
Ahmed Ragheeb
Nouran Mohamed
Mentor: Dr. Beena Ahmed
Motivation
Historical Review
Digital Entry Data Glove
Fiber Optic Glove
Cyber Glove
5DT Data Glove
by Fifth Dimension Technologies
Developed by Gray Grimes
Developed by Visual
Programming Language
Inc.
Developed by James
Kramer
Pinch Glove
by Mapes
1983
1977
1987
1992
2000 - Present
1989
1997
Sayre Glove
Power Glove
Human Glove
Developed by Thomas de
Fanti & Daniel Sandin
Developed by Mattel
Intellivision
Developed at Humanware
Srl
Limitations & Challenges
Cloth Support
Poor Durability
Need of Calibration
High Cost
Problem Statement
Current products are expensive
Our Aim
A product that is
Versatile
Cheap
Long Range
Good functionality
Overview
Semester Tasks
Implementation
Technical Information
Semester Tasks
CONCEPT
GENERATION
BENCHMARKING
ANALYSIS
CUSTOMER NEEDS
ETHNOGRAPHIC
STUDY
FUNCTIONAL
MODELLING
Concept Generation
Concepts
Criteria
A
B
C
D
Control System
Kinect
Sensor Glove
Smart Phone
(Samsung)
Voice Control
IDE
Xilinx
Arduino
Java Script
ADA Fruit Web IDE
Microcontroller
FPGA
Arduino
Samsung S4
Raspberry Pi
End-effector
Humanoid Robot
Robotic Hand
Quad Copter
Car Appliances
Communication
Protocol
2.4 GHz Wi-Fi
Zigbee
Zigbee
Direct Link
Feedback
None
Haptic
Video
None
Power Source
Control System
12 V
12V Battery
4.3V Lithium Ion
Battery
12V Car Battery
Concept Scoring
Concepts
B
Weights
Configurability
Cost
Performance Speed
Security
Mass + Volume
Safety
Range
Reliability
Comfort
Maintenance
Total
5%
10%
10%
15%
15%
10%
20%
5%
5%
5%
100%
Rank
Continue
C
Weighted
Score
0.25
0.3
0.5
0.45
0.75
0.2
1
0.15
0.15
0.15
3.9
Score
5
3
5
3
5
2
5
3
3
3
37
1
Yes
D
Weighted
Score
0.15
0.3
0.5
0.3
0.45
0.3
0.2
0.15
0.2
0.2
2.75
Score
3
3
5
2
3
3
1
3
4
4
31
3
No
Weighted
Score
0.05
0.5
0.5
0.45
0.75
0.3
0.2
0.15
0.2
0.05
3.15
Score
1
5
5
3
5
3
1
3
4
1
28
2
No
Semester Tasks
CONCEPT
GENERATION
BENCHMARKING
ANALYSIS
CUSTOMER NEEDS
ETHNOGRAPHIC
STUDY
FUNCTIONAL
MODELLING
Customer Needs
Customer Needs (Continued)
Semester Tasks
CONCEPT
GENERATION
BENCHMARKING
ANALYSIS
CUSTOMER NEEDS
ETHNOGRAPHIC
STUDY
FUNCTIONAL
MODELLING
Ethnographic Study
Dr. Shehab Ahmed
Dr. Saquib Razak
Dr. Mansour Karkoub
Semester Tasks
CONCEPT
GENERATION
BENCHMARKING
ANALYSIS
CUSTOMER NEEDS
ETHNOGRAPHIC
STUDY
FUNCTIONAL
MODELLING
Benchmarking
Competitor Products
Number of Sensors
Sensor Data Rate
DG5-VHand Glove
3.0
8
Customizable
CyberGlove II
5DT Data Glove
P5 Glove
AcceleGlove
Sensor
Glove(OURS)
18
7
7
6
5+5
Fixed
Fixed
Fixed
Fixed
Customizable
Operating Temperature
Devices supported in each
environment
0 -50˚C
10 - 45˚C
S.T.P
S.T.P
S.T.P
S.T.P
>2
6 (maximum)
1
1
1
1
Operating system
Windows
Windows
Windows 32 bit
DLL
Windows Only
All
Windows
Wireless Technology
WiFi
WiFi
Bluetooth
Wired
Bluetooth
Zigbee
Battery Duration
6 hours
3 hours
8 hours
Not Needed
6-12 hours
D.K.
Battery Charger
Internal
External
Internal
Nil
External
External
Operating Range
< 10 m
15 m
20 m
1.22 m
N.S
90 -100 m
Interface
Micro USB
USB
USB/Bluetooth
USB
USB
USB
Weight
Unknown
Unknown
Unknown
127 grams
111 grams
< 125 grams
Price
$585
$ 12,295
$1495
$49.99
$500
< $250
Haptic Feedback
No
No
No
No
No
Yes
Software
C ++
Own Language
C
1 . Vhand Glove 3.0
5 . 5DT Glove
4 . P5 Glove
2 . CyberGlove
3 . AcceleGlove
Semester Tasks
CONCEPT
GENERATION
BENCHMARKING
ANALYSIS
CUSTOMER NEEDS
ETHNOGRAPHIC
STUDY
FUNCTIONAL
MODELLING
Functional Modeling of Concept
Overview
Semester Tasks
Implementation
Technical Information
Concept Evolution
Customer
Needs
Ethnographic Study
Benchmarking
Embedded Sensor
Glove
Applications
Industry
Entertainment
Medicine
End-Effector
Overview
Semester Tasks
Implementation
Technical Information
Technical Information
CIRCUITS
SIMULATIONS
ONE FINGER OF SENSOR GLOVE
COMPONENTS
ARDUINO BOARD
XBEE BOARD
FLEX SENSOR
VIBRATION MOTOR
ONE FINGER OF ROBOTIC FINGER
COMPONENTS
ARDUINO BOARD
XBEE BOARD
FORCE SENSOR
SERVO MOTOR
Technical Information
CIRCUITS
SIMULATIONS
VIDEOS
SURPRISE