Individual MSc Project - The aim of the project was to create a controller for the teleoperation of a robotic hand. This was achieved by creating a wearable data glove. Flex sensors mounted onto the rear of the glove proportionally control corresponding actuators on the robotic hand. Force sensitive resistors (FSRs) placed on the robotic hand register when contact has been made with an object and trigger vibration motors on the wearable controller. The intensity of vibration varies with the magnitude of the pressure registered by the FSRs. Wireless communication was implemented between the two ends of the system using NRF24L01 wireless transceivers and the system has a consistent working range in excess of 10m. Calibration of the flex sensors on startup and exponential filtering were implemented in the code to improve the performance of the system.
