The Manipulation of a Robotic Joint to Mimic human Motion
|
A one degree-of-freedom joint that mimics the movement of a
human finger was designed. This joint is controlled via a glove with bend
sensitive material mounted across the middle finger joint, using data acquisition
code written in LabVIEW. The system is monitored and controlled to implement
a real time, master-slave control system to move a mechanical joint based
on the movements of an operator's hand.
Experimental set-up: joint, servo-motor, "finger", glove
LabVIEW Program for control and monitoring of the "finger" movement |
Electric circuit based on LM741 chip
LabVIEW based digital interface: monitors "finger" angle and the joint angle |
