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Elecrtical Engineering Project Single Space

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Table of Contents
1. Introduction .................................................................................................................... 1
1.1 Background Review ................................................................................................. 1
1.2 Robotic Arms History .............................................................................................. 2
1.2.1 da Vinci's Robotic Arm ..................................................................................... 2
1.2.2 Robots in the Early World Expo ....................................................................... 3
1.2.3 Early Modern Robots and Robotic Arms .......................................................... 4
1.3 Control Theory ......................................................................................................... 5
1.3.1 Kinesiology and Human Anatomy .................................................................... 5
1.3.2 Gesture Recognition .......................................................................................... 8
1.3.3 Computer Version and Image Processing ....................................................... 10
1.3.4 Motion Sensor ................................................................................................. 11
1.3.5 Wireless Communications .............................................................................. 17

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1. Introduction
The robotic arm is a technique in automation that works not only in manufacturing to
optimize the yield but also in medical applications. In medical applications, the da Vinci
Robotic Arm Surgery System (Figure 1.) allows surgeons to perform more complex,
high-precision, and highly flexible surgery, which breaks through the difficulties encountered
in traditional surgery [1]. However, due to the instability of control systems and bottlenecks
in programming, the methods required to regulate human-machine interaction and
cooperation have not been fully established [2].
This project focuses on replacing the physical need to operate a handheld controller but
using gesture recognition to control the robotic arm. The robotic arm with 'hands-free' control
is built by developing Arduino code and building the wireless communication system to
transfer signals from the gesture recognition sensor to the microcontroller.
Figure 1. The da Vinci Robotic Arm Surgery System [3].
1.1 Background Review
The industrial revolution centuries back initiated a growing demand for production,
which promoted automation. The invention of numerical control machine tools, the
popularization of computers (1950), and integrated circuits (the 1970s) made the
development of industrial robots possible [4]. The original robot could replace humans to
complete heavy, dangerous, and monotonous work. After installing external sensors and
adding more applications such as welding, grinding, deburring, and assembly, engineers
created more complex robots that could reduce the cost of manufacture and improve
productivity and quality.
Technological evolution facilitated the invention of cooperative robotics with small
volume, lightweight, flexible automation tools, and easy programming properties.
Cooperative robotic arms differ from traditional industrial robots, which are usually
large-scale fixed equipment operating at high speed with high precision to automate large
capacity [5]. Furthermore, innovations in safety automation have allowed cooperative robots
to directly collaborate with human workers. By combining repetitive tasks with complex

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tasks, humans can quickly redeploy cooperative robotic arms to support high hybrid
production.
Figure 2. Applications of Collaborative robotic arm [6].
1.2 Robotic Arms History
1.2.1 da Vinci's Robotic Arm
Leonardo da Vinci established a systematic method to design and manufacture complex
mechanical devices 500 years earlier than its era. His first robot design was in December
1478 (Figure 3). In the Codex Atlanticus, Da Vinci describes folio 812 as a power
mechanism characterized by front-wheel drive, rack, and pinion cart. Additionally, it was
fully programmable and could control its direction and motion, which is now believed to
form the basis of his goal - a fully functional automaton [7].

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Figure 3. Leonardo da Vinci’s automaton cart [8].
In 1495, Leonardo da Vinci designed and manufactured the first of several
programmable humanoid robots composed of two independent systems (Figure 4). The lower
limbs had three degrees of freedom (legs, ankles, knees, and hips). The upper limb had four
degrees of freedom (arms with articulated shoulders, elbow, wrist, and hand). Da Vinci's
humanoid robot had an "on-board" programmable controller in the chest to provide power
and control for the arm, which is a starting point for human interest in summarizing forms
and functions [7].
Figure 4. Leonardo da Vinci's humanoid robotic [9].
1.2.2 Robots in the Early World Expo
After World War I, at the San Diego Expo, a little-known and not widely recognized
2,000-pound robot was demonstrated by its inventor, Professor Harry May. As shown in
Figure 5, the robot, Alpha, was 6 feet 2 inches tall and could rotate its eyes, open and close its
mouth, sit and stand, move its arms, and fire a revolver [10]. In 1939, electronics giant
Westinghouse introduced this super-secret and more popular robot at the World Expo in New
York. Elektro could walk around the stage with a strange sliding gait and is claimed to

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Table of Contents 1. Introduction .................................................................................................................... 1 1.1 Background Review ................................................................................................. 1 1.2 Robotic Arms History .............................................................................................. 2 1.2.1 da Vinci's Robotic Arm ..................................................................................... 2 1.2.2 Robots in the Early World Expo ....................................................................... 3 1.2.3 Early Modern Robots and Robotic Arms.......................................................... 4 1.3 Control Theory ......................................................................................................... 5 1.3.1 Kinesiology and Human Anatomy.................................................................... 5 1.3.2 Gesture Recognition.......................................................................................... 8 1.3.3 Computer Version and Image Processing ....................................................... 10 1.3.4 Motion Sensor ................................................................................................. 11 1.3.5 Wireless Communications .............................................................................. 17 1. Introduction The robotic arm is a technique in automation that works not only in ...
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