DESIGN MOVEMENT CONTROL GLOVE-SHAPED

USING FLEX SENSOR AND ACCELEROMETER

FOR MOBILE ROBOT APPLICATION
BY :
R O B B I A N D I F I R M A N S YA H
111 0 1 2 1 0 11
ADVISOR :
1 . E R U P U S P I TA, S . T., M . K O M .
N I P. 1 9 6 9 1 2 3 1 . 1 9 9 5 0 1 . 1 . 0 0 1
2.BUDI NUR IMAN, S.SI., M.KOM.
N I P. 1 9 6 9 1 0 2 7 . 1 9 9 4 0 3 . 1 . 0 0 1

D4 Electronic Engineering
Electrical Department
ELECTRONIC ENGINEERING POLYTECHNIC INSTITUTE OF
SURABAYA
30/31-07-2015

OUTLINE
Background
Problem Limitation
Description
Block Diagram

Estimate Outcomes
Hardware
Examination
Conclusion

Background
1. The interaction between human and technology is
increased and become more advanced.
2. Replacement of the popular control system into gloveshaped control system for easier and flexible
operation.
3. For base system that can be improve to be advanced
system.

Problem Limitation
1. Movements are predefined based from the grooves on
three fingers.
2. Accelerometer reads static movement.
3. The distance to control the mobile robot from the
hand-gloves is in the range of 0-10 meters.
4. Observation of the mobile robot movement covers the
basic movement such as forward, backward, turn left,
and turn right.

Description (Block
Diagram)

Estimate Outcomes
Design

Control Box and Display

Controll
er

Mobile
Robot

Hardware

Glove and System Control

Hardware

Front

Side
Mobile Robot

TEST-Speed Test
Examination for test the
speed of the motor used.

Grafik Respon Putaran Motor Terhadap Nilai OCR

450
400

- The speed is based on the

configuration of OCR from
the microcontroller that
drives the driver.

350
300
250

Putaran (RPM) 200

150
100

- Examination using
tachometer to know the
speed of the motor

50
0

25

50

75

100

125

150

Nilai OCR
Motor Kiri

Motor Kanan

175

200

225

25

TEST-Flex Sensor
The test is to know the
resistance and
characteristic of the
Flex sensor
- Examination in two
condition in three
finger
- condition :
1. in common
position
2. in hold position

Table 1. Flex Sensor when

common
Sensor
Resistance ()
Flex Sensor 1 (Ibu
Jari)
Flex
Sensor
2
(Telunjuk)
FlexSensor 3 (Jari
Tengah)

9,52 k
9,82 k
10,13 k

Table 2. Flex sensor when hold

Sensor
Flex Sensor 1 (Ibu
Jari)
Flex
Sensor
2
(Telunjuk)
FlexSensor3 (Jari
Tengah)

Resistance ()
13,64 k
23,32 k
20,47 k

TEST-Accelerometer
The test is to know the ADC Value from Accelerometer
- Examination in two condition
- condition :
1. in flat position
2. in side position
ACCELEROMETER IN FLAT POSITION

ACCELEROMETER IN SIDE POSITION

160

160

150

150

140

140

Nilai ADC

130

Nilai ADC

130

120

120

110

110

100

100

Urutan Data Uji

Urutan Data Uji

X

TEST-Communication

TEST
Identification on Groove fingers
- the examination is to know the pattern of movement in
finger
- subject do 15 random movement, 6 movement will be
recorded as reference. Then subject retry the movement
and see the identic movement. The method used in this
examination is Euclidean distance.
The formulas is describe below:

Identification Table

Performance Evaluation
To know the accuracy an the success rate of the system
Using formula

CONCLUSION
From the initial test and examination that has been
conducted, it can be concluded :
1. identification process using Euclidean distance method
has 94,44% rate accuracy and can be continued as the
identification of the hand and finger movement
2. the data communication using Bluetooth has success
rate of more than 90%.
3. The driver for Mobile Robot that has been made can
move the mobile robot as planned.

VIDEO

Documentation

Measure the speed of DC

Motor

Measure Flex Sensor

Resistance

References
[1] Di Blasi Giovanni, Fisichella Fausto, dkk. HAND MOTION CAPTURE
THROUGH ACCELEROMETER TO DEVELOP A REMOTE CONTROLLER.
Information and Telecommunication Engineering Department, University of
Catania, Italy.
[2] Zohra Aziz Ali Manjiyani, Renju Thomas Jacob, dkk. DEVELOPMENT OF
MEMS BASED 3-AXIS ACCELEROMETER FOR HAND MOVEMENT
MONITORING. International Journal of Scientific and Research Publications,
Volume 4, Issue 2, February 2014. VIT University, Tamil Nadu, India.
[3] Rini Akmeliawati, Faez S. Ba Tis, Umar J. Wani. DESIGN AND
DEVELOPMENT OF A HAND-GLOVE CONTROLLED WHEEL CHAIR. 4th
International Conference on Mechatronics (ICOM), 17-19 May 2011, Kuala
Lumpur, Malaysia.
[4] Purwantara, Rendra Maulana. SISTEM ACCELEROMETER BERBASIS
ANDROID SEBAGAI PENGENDALI MOBIL ROBOT DENGAN KONEKSI
BLUETOOTH. Tugas Akhir : Politeknik Elektronika Negeri Surabaya; 2013.
[5]Fathurrahman, Nanda. PENERJEMAH SISTEM ISYARAT BAHASA
INDONESIA MENGGUNAKAN SENSOR FLEX DAN ACCELEROMETER. Tugas
Akhir : Politeknik Elektronika Negeri Surabaya; 2013.

THANK
YOU