Well... we will give you the data and youlll make your conclusions.
First the metodology:
The project was developed with a framework of agile software development (DAD).
Through three incremental iterations, where solutions were provided to each one by adding new functionalities in the next one.
There are two configurations. (natural and mirror)
The three iterations consisted of one arm, two arms and two arms remotely.
The measurements and indicators were defined for two kinds of observations. User’s perception of comfort and performance of the completion of the tasks.
So we started on the first iteration:
One robotic arm
Interaction with one hand
Mirror and natural configuration
One Leap Motion sensor
As you can see the first one we also marked the space where the sensor picks up the hand. The results are the following:
The learning curve show that the system provides a easy to use interface.
And the feedback was pretty good!
Overall everyone was very please, keep in mind that the task where designed for no more than 10 minutes because you will get tired from keeping your arms straigth on the air. For example BMW cars now equip this feature on its cars but only for short commands.
The Leap Motion input interface enables the interaction between the user and the robotic arms by capturing the motions and gestures made by the user’s hands. The developed software receives the information of the motions and gestures in real-time and then processes it according to the commands presented in the function below (Fig. 3). These commands depend on the hand being used (right or left, which the Leap Motion can detect on its own) as well as on the position of the hand over the X, Y, and Z axis, defining (0, 0, 0) as the center of the space. Additionally, hand gestures made by the user are taken into account. In the case that any of these triggers is detected, the corresponding command is sent to the Arduino board, which is responsible
for sending electrical signals through the Adafruit Motor- Shield to move a robotic arm according to the user’s motions
and/or gestures. All of these factors determine the first letter of the command (R for right or L for Left) and a number corresponding to a selected ASCII character.
This formula corresponds a two hand configuration setup.
Normally when people saw the project they always get interested for the arm( even though the LEAP is much more interesting) so lets talk about it.
The arm is not a great robotic arm... in fact is a pretty crappy robotic arm, because it's a toy!!! Having said that, it is one of the best toys there is. Like really if you have a child and its age appropiate buy it for him, go ahead.
We choosed the arm beacause its cheap and easy to get to the components. Also it was a blast having to assemble it.
In the instructions part we didnt talk about ditching the controller part because if you assemble it it wil be obvious.
The short comings to the OWI are pretty narrow but important... its a DC motor based arm so there is no positioning system. We encourage you to find a servo based and implement it a tell us about it. That would take real advantage from the LEAP and would make a great project.
The study of the ways in which humans interact with robots is a multidisciplinary field with multiple contributions from electronics, robotics, human-computer interaction, ergonomics and even social sciences. The robotics industry is mainly focused on the development of conventional technologies that improve efficiency and reduce the amount of repetitive work. To achieve this, enterprises must train their technical staff to accompany the robot when performing tasks, during configuration and technical programming for proper operation. Taking the latter into account, the development and creation of unconventional interfaces for interaction between humans and robots is critical, because they allow for a natural control over a robot to generate wide acceptance and massive use in the performance of a wide range of possible tasks. This paper presents the challenges in the design, implementation and testing of a hand-based interface to control two robotic arms and the benefits of this technology that is between robotics and human interaction.
In the software theme youll use the arduino IDE and processing, both are free and a great skill to learn.
As you can see on this components list this project is very versatil and you can change the mayority of the parts and come up with a greater version. Being the ultimate the feather controlled servo based arm.... but the one that we maned works just fine.
Get to know the Leap Motion
Before we get cracking on the wiring and software we think thats important for you to use the Leap motion and know the advantages or the downsides from this sensor.
The IDE has a lot of games and such that are pretty entretaining and this visor, it shows almost all the information from position and explains to you how the Leap sees the world.
With this you will get wich is the field where it works and that superposition is a big no no on this thing.
We are sure that youll find this thing has much fun as we find and will get you a looooot of ideas.
The PC works as an interface between the data from the LEAP and sends commands to the arduino to what to do.
As you see on the motor controller it only has 4 motor controllers so we connected 1 to 3 to the various degrees of freedom and the fourth to the gripper. The one that we choose to left out is the wirst.
Obviously it shows two arms but it works exactly the same for only one