International Journal of Engineering Trends and Technology (IJETT) – Volume22 Number 5- April 2015
Shadow Robotics
Suresh.A.Y.V#1, Sowmya.I*2
#
Authors designation & Department & University
Address Including Country Name
Abstract— Shadow Robotics is a technology where human cannot
believe where the world is moving to, that’s the technology is
shadow robotics. From human gestures to controller where it
synchronises with artificial machine, it senses the human feeling
without bionic operations and heavy investments in operations
for handicap people. On the sensors and artificial neural
response the paper was designed.
electronic compass. As shown in figure 2, flex sensors are
mounted on each joint of all five fingers and bending of
sensor due to hand movement of the operator changes the
resistance of the sensor and this change in resistance is fed as
Keywords— Servo, Mapping, Arduino, Motor driver, DC motor
I. INTRODUCTION
Robotics is branch of science basing on such technology
We can design robotic hand that copies the movement of the
human hand and perform the task for this we need to mount a
number of sensors on fingers and palm of the operator these
sensors senses the movement of finger and palm of the
operator and the output of all these sensor is transmitted to the
robotic hand by means of the wireless communication robotic
hand and receives these signals. Robotic unit is not always a
human like hand it may be jaw or gripper, Robotic hand is a
Human like hand which performs the tasks that human
performs with his hands.
Synchronisation of the robot is communicated with the help
of high speed of controller device like arduino board with
features of 32KB of ROM, 1KB of SRAM,EEPROM of 1kb
and technique in coding like mapping is used.
II.System Analysis
The main Objective of the Shadow robot is controlled with
the basic block Representation which is shown below. This
type of robot is to utilize in rescue operation also where
human cannot go in any place.
A. Block Diagram
Fig 2: Block Diagram
input to the robotic unit. Here first flex sensor i.e. flex
sensor 1 is mounted on top joint of forefinger of the hand and
flex sensor 2 is mounted on middle joint of the forefinger and
flex sensor 3 is mounted on lower joint or joint of forefinger
near palm in similar way flex sensors are mounted on all
joints of the all finger of the hand of operator the entire
unit contains five mechanical fingers, movements
of the fingers can be carried out using stepper motor
or servo motor when operator carry out movement
of his hand then some flex sensors bends and
resistance of the sensors changes and this change is
transmitted to robotic unit.
5 flex sensors fixed at all joints of human finger
when operator bends his finger these sensors also
bends and resistance of these sensors get changed
which is input to the robotic unit.
Fig: Block Diagram
Project can be implemented by using sensors like flex
sensor, ultrasonic sensor and three axis accelerometer and
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International Journal of Engineering Trends and Technology (IJETT) – Volume22 Number 5- April 2015
B. Hardware required
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Flex Sensor
Arduino Board with ATmega 328p
Voltage divider
Servo
C. Software Requirement
 Arduino
Gaming (Virtual Motion)
1) Flex Sensor:
A simple flex sensor 2.2" in length. As the sensor is flexed,
the resistance across the sensor increases. The resistance of
the flex sensor changes when the metal pads are on the outside
of the bend (text on inside of bend). Flex sensors are passive
resistive devices that can be used to detect bending or flexing.
The flex sensor shown in this article is a bi-directional flex
sensor that decreases its resistance in proportion to the amount
it is bent in either direction.
D. Electrical Specifications:
 Flat Resistance: 10K Ohms
 Resistance Tolerance: ±30%
 Bend Resistance Range: 45K to 125K Ohms
(Depending on bend radius)
 Power: 0.50 Watts continuous. 1 Watt Peak
2. Arduino board:
Arduino is open source technology, Instead of choosing 8051
and ARM processor we can choose Arduino Atmega 328
based controller because of single compiler and debugger.
Flashing with DB9 connectors some olden technology which
not utilised in present day.
\
Fig 3:Flex Sensor
Flex sensors may be used in robotics to determine joint
movement or placement. They may also be used like whiskers
for wall detection. The sensors we are making are also
pressure sensitive so they can also be used as bumper switches
for wall detection or pressure switches on robotic grippers.
For bio-metrics, the sensor can be placed on a moving joint of
athletic equipment to provide an electrical indication of
movement or placement.
Fig 4:Voltage dividing With flex sensor
A simple Flex Sensor with length of 2.2” which bends and
flexes with physical device. As the sensor is flexed, the
resistance across the sensor increases. Connector is 0.1"
spaced and bread board friendly.
Fig 4: Arduino Board
Arduino shield that offers programmers an easy way to
'read' digital and analog sensors to measure the world. The
simple board is easy to solder and is then ready to use in an
infinite number of projects. It contains some analog sensors
onboard: light sensor, temperature sensor an angle sensor
(potentiometer); some digital sensors: two push buttons. Also
included, as digital output, a bi-colour LED and analog power
driver base on NPN transistor.
There is a full range of connectors where you can plug your
own sensors and actuators. This tool it is perfect for
programming students, and Robotic workshops. It has been
designed by teachers of the Robotics lab of College San
Gredos in Alcalá de Henares, Madrid, Spain. It has been
developed under the Open Hardware spirit, and it is given to
the community to enjoy and to be improved.
Fig 5: Internal Block diagram
B.Possible Applications:
Robotics
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International Journal of Engineering Trends and Technology (IJETT) – Volume22 Number 5- April 2015
Example:
void setup() {}
void loop()
{
int val = analogRead(0);
val = map(val, 0, 1023, 0, 255);
analogWrite (9, val);
}
3 Servos:
Fig: Pherpherals on Arduinoboard
In this present board arduino is utilised only for one case
which is shown below. Mapping is function which reduces the
command line of 100 lines of code.
Map Description:
Re-maps a number from one range to another. That is, a
value of from Low would get mapped to Low, a value of from
High to High, values in-between to values in-between, etc.
Does not constrain values to within the range, because out-ofrange values are sometimes intended and useful. The constrain
() function may be used either before or after this function, if
limits to the ranges are desired.
Note that the "lower bounds" of either range may be larger
or smaller than the "upper bounds" so the map () function may
be used to reverse a range of numbers, for example
y = map(x, 1, 50, 50, 1);
The function also handles negative numbers well, so that
this example
Servo motors have three wires: power, ground, and signal.
The power wire is typically red, and should be connected to
the 5V pin on the Arduino board. The ground wire is typically
black or brown and should be connected to a ground pin on
the Arduino board. The signal pin is typically yellow, orange
or white and should be connected to a digital pin on the
Arduino board. Note that servos draw considerable power, so
if you need to drive more than one or two, you'll probably
need to power them from a separate supply (i.e. not the +5V
pin on your Arduino). Be sure to connect the grounds of the
Arduino and external power supply together.
Tower Pro servo:
y = map(x, 1, 50, 50, -100);
is also valid and works well. The map () function uses
integer math so will not generate fractions, when the math
might indicate that it should do so. Fractional remainders are
truncated, and are not rounded or averaged.
Parameters:
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Value: the number to map

From Low: the lower bound of the value's current
range

From High: the upper bound of the value's current
range

To Low: the lower bound of the value's target range

To High: the upper bound of the value's target range
ISSN: 2231-5381
This library allows an Arduino board to control RC (hobby)
servo motors. Servos have integrated gears and a shaft that
can be precisely controlled. Standard servos allow the shaft to
be positioned at various angles, usually between 0 and 180
degrees. Continuous rotation servos allow the rotation of the
shaft to be set to various speeds.
The Servo library supports up to 12 motors on most
Arduino boards and 48 on the Arduino Mega. On boards other
than the Mega, use of the library disables analogWrite()
(PWM) functionality on pins 9 and 10, whether or not there is
a Servo on those pins. On the Mega, up to 12 servos can be
used without interfering with PWM functionality; use of 12 to
23 motors will disable PWM on pins 11 and 12.
Tiny and lightweight with high output power. Servo can rotate
approximately 180 degrees (90 in each direction), and works
just like the standard kinds but smaller. You can use any servo
code, hardware or library to control these servos. Good for
beginners who want to make stuff move without building a
motor controller with feedback & gear box, especially since it
will fit in small places. It comes with a 3 horns (arms) and
hardware.
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Fig: Tower Pro Servo
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International Journal of Engineering Trends and Technology (IJETT) – Volume22 Number 5- April 2015
Specifications:
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Final Design:
Weight: 9 g
Dimension: 22.2 x 11.8 x 31 mm approx.
Stall torque: 1.8 kgf·cm
Operating speed: 0.1 s/60 degree
Operating voltage: 4.8 V (~5V)
Dead band width: 10 µs
Temperature range: 0 ºC – 55 ºC
Schematic design of single servo:
Conclusions:
In this design we used a AT mega 328 controller and flex
sensor and made a prototype design. Most traditional circuit
designs are composed of hardware components building on a
printed circuit board (PCB), we used same. If errors are found
or the system needs to be improved or upgraded, the PCB
must be redesigned.
ACKNOWLEDGMENT
This project consumed huge amount of work, research and
dedication. Still, implementation would not have been
possible if we did not have a support of many individuals and
organizations. Therefore we would like to extend our sincere
gratitude to all of them.
REFERENCES
Fig: Arduino Interfacing with Servo
[1]
Each Servo is controlled with PWM pin because of higher
range of pulse can be controlled with modulation technique.
The rise time and fall should be concern.
[2]
[3]
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Fig: Servo Interfacing with Fingers with tags
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