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Hand Motion Controlled Robotic Arm based on Micro-Electro-Mechanical-System Sensors: Gyroscope, Accelerometer and Magnetometer

Auday A. H. Mohamad, Basil Tareq Abdulbaqi, Noor Kareem Jumaa. Published in Circuits and Systems.

Communications on Applied Electronics
Year of Publication: 2017
Publisher: Foundation of Computer Science (FCS), NY, USA
Authors: Auday A. H. Mohamad, Basil Tareq Abdulbaqi, Noor Kareem Jumaa

Auday A H Mohamad, Basil Tareq Abdulbaqi and Noor Kareem Jumaa. Hand Motion Controlled Robotic Arm based on Micro-Electro-Mechanical-System Sensors: Gyroscope, Accelerometer and Magnetometer. Communications on Applied Electronics 7(4):6-11, July 2017. BibTeX

	author = {Auday A. H. Mohamad and Basil Tareq Abdulbaqi and Noor Kareem Jumaa},
	title = {Hand Motion Controlled Robotic Arm based on Micro-Electro-Mechanical-System Sensors: Gyroscope, Accelerometer and Magnetometer},
	journal = {Communications on Applied Electronics},
	issue_date = {July 2017},
	volume = {7},
	number = {4},
	month = {Jul},
	year = {2017},
	issn = {2394-4714},
	pages = {6-11},
	numpages = {6},
	url = {},
	doi = {10.5120/cae2017652621},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


There are high requirements to develop artificial arms for many inhuman situations where human interactions are presenting challenges or not possible (i.e. impossible situations). This paper presents information, methods, and techniques which are essential for building a robotic arm controlled by the movements of normal human arm (Gesture Robotic Arm) whose data is acquiring by using the sensor fusion technique of Gyroscope, Accelerometers and Magneto sensors (MEMS sensors). For appropriate control mechanism and for reducing the noise amount which is coming in from the sensors, a proper averaging algorithm is used for smoothening the accelerometer output. The development of this arm is based on the Arduino platform; in which all are interfaced with each other by using Bluetooth wireless communication. The prototype of robotic arm of this paper has been implemented practically. The developed robotic arm of this paper is tracked the movement of human arm with a good accuracy. Implementation of this arm could be expected for overcoming the problems such as picking or placing object that are away from the users or could be used in medical applications.


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MEMS Sensors, Sensor Fusion, Robotic Arm, Gesture Controlled.