Design and Development of Haptically Interfaced Robotic Arm

Project Title

Design and Development of Haptically Interfaced Robotic Arm

Project Area of Specialization Mechatronics EngineeringProject Summary

This Project "Design & Development of Haptically interfaced Robotic Arm" is a flexible and low-cost robotic arm that is haptically interfaced through bodily sensations and make movements. It aims to demonstrate the controlling of three DOF Robotic arm using a microcontroller through a Bluetooth module and mobile application which helps to move the motors and a linear actuator up to instructions provided by the user/doctor. We are using a Force Sensitive Resistor (FSR) that provides a quick response of materials by pressing it harder and allow users to effectively touch and feel its effect. After that it displays the precise outcome. This arm will play a vital role in the medical sector insuring a safer life for medical health workers. It focuses on exploring the new thrilling and diverse world of autonomous robotics in the healthcare industry by reducing the workload on doctors and getting work done with high precision and reducing the health risk from contagious diseases.

Project Objectives

Basic objective of this project is to establish a flexible and low-cost robotic arm with 3 degrees of freedom for medical purpose. 
For this two servo motors and one linear actuator is required. This  robotic arm will be controlled using Arduino Uno microcontroller and mobile app developed. Inverse kinematics is implemented through Arduino. We have used Solidworks for designing of arm. We will integrate haptics technology to deduct the required amount of needle injected by the robotic arm which can be felt by the doctor using Omni.

Project Implementation Method

We have calculated human body ratios i.e. arm length, weight, forward and inverse kinematics equations and its workspace.After that, simulation is done by using the Robotic Toolbox Peter Corke, to analyze the accurate results.Once had done with the desired simulation results, we did motor calculation to determine which motor will provide the required torque then the arm is constructed. We have also made a Voltage Divider circuit that takes 24V as input and provides 12V and 5V as output. 24V to one high torque servo motor, 12V to other one and 5V to linear actuator. For its controlling, we are using Arduino and Bluetooth mobile app. We have implemented inverse kinematics using Arduino.After that we proceed to fabrication step. Lastly we will integrate haptics technology. We will use FSR sensor to integrate haptics technology. Finally, we will test it to see if it can do the specified assignment in a right manner.

Benefits of the Project

During the past few years of Corona virus disease, it has been seen that life of doctors and other medical workers has become threaten due to this contagious disease. So, we are trying to provide a solution to assassinate or to reduce this risk by the use of technology. Not only for Covid but also for all other contagious diseases like Tuberculosis, Norovirus, Influenza, Meningitis, MRSA and from many others, this solution will play a role of life saver.

Technical Details of Final Deliverable

The prime purpose of this project is to develop a generalized robotic arm for medical use in hospitals and universities medical centers, specifically to deal with the COVID-19 pandemic situation. It is maintaining a constant level of work performance while performing task and replaces the human arm when performing hazardous task i.e. using this arm to treat patients suffering from COVID 19. It ensures safe working environment for medical workers by reducing maximum interaction between doctors and the patient. This project comprises of certain steps that are conceptualization, design, fabrication, and control of a three-degree-of-freedom articulated robotic arm, which was gone through  design and analysis after than it was passed to assembling process. After multiple amendments, we have achieved the accurate design layout of our robotic arm structure. We have also figured out the forward and inverse kinematics geometry to specify the orientation and path followed by the arm to perform specific tasks. Forward kinematics is obtained by using MATLAB coding for its workspace and inverse kinematics to calculate its angles using Arduino IDE software. 
Haptics technology in our project is in great demand in medical sector these days and for that we are using FSR sensor that detects external pressure used for inspection and treatment of illness.
 For the controlling mechanism of the robotic arm, we have created a mobile app that carries the analog signal to digital signal using Arduino Uno microcontroller providing signals through Bluetooth module (HC-05) and for the operation of the motors, we have designed a Voltage Divider circuit to supply the required amount of voltages to motors.

Final Deliverable of the Project HW/SW integrated systemCore Industry MedicalOther IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Good Health and Well-Being for PeopleRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	60540
Robot Servo Motor	Equipment	2	20000	40000
Fabrication	Miscellaneous	1	5000	5000
Actuator	Equipment	1	5600	5600
Aluminum linkage	Miscellaneous	1	2000	2000
Force Sensitive Resistor	Equipment	1	1200	1200
Electronic Components	Equipment	9	60	540
Integrated Chips (IC’s)	Equipment	2	100	200
Bluetooth Module	Equipment	1	1000	1000
Microcontroller	Equipment	1	2000	2000
Printing	Miscellaneous	3	1000	3000