Human controlled robotic arm : Improving usability with haptic feedback

Abstract: In our modern society, the usage of robotic arms are increasing. Much of the work in the industry is now done by robots. Even though they are able to do very precise work, difficulties appear when trying to do some of the tasks that humans do. This can be changed by making it easy for a human to control the robotic arm and to "teach it" how it’s done. The purpose of this project is to develop a robotic arm that is easily controlled by the user. This is done by using the users own arm movement to control the robot. To make the usage more intuitive, a simple haptic feedback system will be implemented. This creates a greater experience where the user is able to "feel what the robot feels". To be able to create such a system, development of an easy control unit, robotic arm and feedback system has to be made. The steering of the robotic arm is created from reading the user’s arm movement with potentiometers, and mapping these values to servos on the robotic arm. Sensors on the robotic claw and on the user’s hand makes it possible for a DC motor to create a counter torque that gives a feel for the size of the object being lifted. The feedback system seemed to improve the overall experience of using a robotic arm and with further work, today’s robotic industry could be improved.