SISTEMA PARA CAPTAÇÃO DO MOVIMENTO DO BRAÇO E CONTROLE DE UM PROTÓTIPO DE BRAÇO MECÂNICO À DISTÂNCIA

Abstract

This paper describes a system capable of measuring the movement of the human arm and control a prototype that plays such movements through step and servo motors. The signal acquisition system consists of sensors, conditioning circuits, wireless transmission and is powered by batteries. The reproduction system consists of a robotic arm prototype, which is controlled by two stepper motors and a servo motor, mounted in order to reproduce the movements read by the acquisition system. It may be noted that the motion capture system is mobile and can be attached directly to the individual's arm and communicates without data loss up to a distance of 10 meters and the battery had autonomy of 4 hours. At the end of the work it was possible to control the mechanical arm by reading a tri-axial accelerometer and faithfully reproduce the movements of the elbow and the movement of prono-supination of the forearm.

Index Terms - Arm movement, Control, Mechanic arm, Movement reproduction.