Resumen de A hand motion controller allowing for control the computer models and peripherals
Jakub Bernat, Sebastian Bukowiecki, Jakub Kolota, Sławomir Stepien
Recent years have brought important changes in engineering education, especially in electrical and computer engineering. Alongwith new equipment and modern electronics, there are new opportunities in the automation control. This paper presents a handmotion controller, which measures the orientation of the upper limb of a man in three dimensional space. The design assumes theuse of microcontrollers from Texas Instruments, which will be responsible for communication between specific modules. It assumedthe usage of two types of communication UART (Universal Asynchronous Receiver and Transmitter) and I2C (called Inter-Integrated Circuit). Microcontrollers will also be responsible for monitoring the voltage and simple calculations. The entire systemhas been sown in the glove acting module possible to connect to different devices, and communicating through the I2C bus withthe master device. In order to visualize the controller a hand model was developed in an environment of OpenGL and 3ds Max.Subsequently, the control program which is responsible for calculating the rotation matrix, and the calculation (using data from thematrix) of degrees of freedom associated with the forearm and the arm, was implemented. This is a broader issue related to thelarge number of calculations which are not capable of microcontrollers (requires a large computational power), that was the reasonwhich extorted the computer’s calculations communicated with the controller wirelessly by Bluetooth. In order to present theresults, a physical manipulator, which mimics the trajectory of hand movement, was connected to a personal computer. Presentedsystem is used on the experimental laboratory education on Chair of Computing Engineering at Poznan University of Technologyin Poland. The objective is to present remote laboratory kits for teaching and learning some aspects of control systems.Additionally, the effectiveness of the platforms in educating students is discussed.
