FYP/00/EET/UOG/2020-21

FYP PROPOSAL DEFENSE

ACADEMIC SESSION 2020/2021

DEPARTMENT OF ELECTRICAL ENGINEERING

UNIVERSITY OF GUJRAT

M. Saqlain Khalid 17093322-014

Name: Hassan Iqbal Gondal 17093322-016
Jawad Karim 17093322-031
Supervisor: Engr. Ali Asghar
Project Title: Humanoid Robotic Hand
Fundamental Analytical 
Nature of Project:
Experimental/Hardware  Simulation 
Design/Fabrication Programming 
Others (please specify)
Type of Project: New project 

1. PROJECT SUMMARY

Now a days in this fast increasing industrial or non-industrial age everyone needs speed in
manufacturing to handle up with the customer requirements or another purposes the robotic
hand play essential role. The basic objective of our presentation is to develop a versatile
concept among business students. Robotic hand can be used in number of application by
changing the program of controller and the structure is designed in such a way that it is capable
to lift light loads but also lift medium loads. We are presenting robotic hand that mimic the
motion of human hand wearing a control glove, an opening and closing of each individual
finger of the human hand is duplicated by the robotic hand with the individual servo
controlling each robotic finger. We use the humanoid robotic hand, a custom circuit board had
to build, and the controller microcontroller had to be programmed using the Arduino. The
servos can be connected to the robotic finger with fishing line. The control glove was
connected to the control broad with the wires.

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2. OBJECTIVES
The objectives of this project are to:

 We will design simulation and implementation the humanoid robotic hand with maximum
efficiency for future use in robotic research for university of Gujrat, department of
Electrical Engineering and Technology.

3. LITERATURE REVIEW

A humanoid robot is a robot whose body shape resembles a human body. This design can be
for practical purposes, such as interaction with human tools and the environment, for
experimental purposes, and for other purposes. Humanoid robots will perform various
complex tasks work based on instructions received from human’s consumers. Robot
implementation will ultimately support human labour complex and effective work in areas
such as manufacturing and exploring space [1].

A humanoid mechanism was drawn as a robotic knight in 1495 considering basic

movements of human like robots by Leonardo de Vinci [9]. An evolutionary number of
humanoid robots were appeared in the 20th century and over the last decade; there has been
a significant increase in the number of humanoid robots. The growths of robotics have a
significant influence on labour tasks in many fields. The Boston Consulting Group stated that
robots will replace 25% of human jobs in 2025 [10].

Special parts of the human body that have lost limbs can be replaced by robotic
mechanisms such as arms, hands or legs. That is why biomechanics is an important field of
research [2, 3, and 4]. Service robotics reaches into our daily lives in many fields even though
people don't realize it. Recent advances in robotics reflect the growing interest in support and
personal robots. These robots got them application in areas such as industrial companies, the
military, health services (elderly care, nursing robots, etc.), or Such as domestic robots and
guide robots [5, 6]. Our study focuses on modelling the humanoid robot hand so that a real
model can be developed. This should be used in healthcare fields. The first major contributions
to the field of humanoid robotics came in the 70's and 80's [7].

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Many researchers have focused on the sensation of humanoid robots. Some of these
robots focus on walking; some of these robots focus on the hand [8]. Our team would like to
base the knowledge the purpose of this article is to model and simulate humanoid robot hand
movements. We will face the major issue, rotation of freedom that is commonly in the
humanoid robotic hand we will try it to do best.
The human hand consists of 27 Bones [16]. Which form its three main parts: the wrist,
the palm and the fingers? The wrist is made up of 8 small bones are called carpels that join the
elbow and radius arm bones in hand. The palm consists of 5 bones called Metacarpals that
connect the fingers and thumb on the wrist. The anthropomorphic hand used in this project
incorporates five fingers and DOF (degrees of freedom), two for the flexion of each finger plus
an additional degree of freedom allowing thumb opposition. Flexible fluidic actuators and a
hydraulic supply consisting of a pump and valves drive the finger joints [11]. The hand is
currently being equipped with joint angle, contact force and flexible sensors [12]. It is
important that the size of the robot hand matches that of the human hand geometry for skilful
manipulation purposes. The robotic hand designed like a relatively large human hand, and it
has thumbs and four fingers.
For grasping cylindrical and spherical objects, a Multi-element effect has been selected
[15].The gripping principle is based on the biomechanics of gripping objects. For the purpose
of manipulation by human hands, with a closure, providing a shape and power closure the
status of the object of manipulation described by grip fingers and their sequence Forced acting
can be placed in drives for robotic hands. The hand or wrist where they are joined by a tendon
system.
In which a loop of fibrous cable is wrapped connected to socket and finger base. In this
case, the bar system was used. For this project of the humanoid robotic hand, servomotors
were used. There is no need for often maintenance, less running costs. The use of electric
drives is a low price, low operating costs and almost maintenance-free operation [14]. In this
design we have used flex sensors to sense the movement of individual fingers for each finger.
These are 5 sensors Organized on a glove, which will make the sensor easier to wear.

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The second part, the mechanical hand, consists of 5 fingers which are controlled by five
servo motors, one motor for each finger. It will all be together flex sensor in each finger.
Movement like bending of fingers is analysed using microcontroller and the resultant data will
be sending to one of the port via serial communication. The microcontroller will generate
appropriate PWM signals for controlling servo motors. This circuit involves 5 servos, Battery,
microcontroller and a breadboard. The positives and the negatives of the servos are connected
to the battery via breadboard, whereas the signal wire is directly fed to the Arduino
microcontroller used here.
This circuit is responsible for the movement and may also be called the motor circuit or
the muscle circuit. A normal glove is bounded with 5 flex sensors. These flex band sensors
sense the bend of the fingers and generate the output based on resistance which is
proportional to the degree of the finger bend. This piece of data is then transferred to servos
using the Arduino Uno controller which ultimately is responsible for the mimicking of the
human like hand movements.

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4. PROJECT REQUIRMENT: HARDWARE/SOFTWARE

 Links and joints

 5 DC Motors / servo motors or ‘muscles’
 Flex Band sensors
 Controllers
 Microcontroller (e.g. Arduino)
Software framework, e.g. Robot Operating System (ROS), which provides packages for
motion, control, planning, face recognition, etc. (required for advance level),Arduino Software
(IDE-integrated development environment) is used to write the control code of robotic hand.
The Arduino software is written in Java.

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5. FLOW CHART

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6. GANTT CHART

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7. MAJOR REFERENCES

[1]- Haruhisa Kawasaki and Tetsuya Mouri “Humanoid Robot Hand and its Applied
Research” Journal of Robotics andMechatronicsVol.31 No.1, 2019.
[2] K. Trnka, P. Božek, Optimal Motion Planning of Spot Welding Robot Applications. In:
Applied Mechanics and Materials, ICMMME 2012, ISSN 1660-9336, pp. 589-593.
[3] F. Ducho�, P. Hubinský, J. Hanzel, A. Babinec, M. Tölgyessy, Intelligent vehicles as the
robotic applications, in: Procedia Engineering 48 (2012), Vol. 48, pp. 105-114
[4] D. Koniar, L. Hargaš, M. Hrianka, V. Bobek, P. Drgo�a, P. Fibich, Kinematics analysis of
biomechanical systems using image analysis, Metalurgija (Metallurgy), Vol. 49 (2/2010),
ISSN 1334-2576.
[5] J. Hirt, K. Berns, K. Mianowski, Designing Arms and Hands for the Humanoid Robot
ROMAN, in: Advanced Materials Research (2012), pp.1233 – 1237.
[6] R. Spielmann, F. Ducho�,J. Kostroš, T. Fico, R. Balog, Sensor Module for Mobile Robot,
in: American Journal of Mechanical Engineering (2013), Vol. 1, No. 7, 378-383.

[7] S. Kagami, M. Mochimaru, Y. Ehara, N. Miyata, K. Nishiwaki, T. Kanade, and H. Inoue,

Measurement and comparison of human and humanoid walking, in Proceedings of IEEE
International Symposium on Computational Intelligence in Robotics and Automation, Vol. 2,
2003, pp. 918 – 922.
[8] J. de Lope, T. Zarraonandia, R. González-Careaga, D. Maravall, Solving the Inverse
Kinematics in Humanoid Robots: A Neural Approach,
Lecture Notes in Computer Science (2003), Vol. 2687, pp. 177 – 184.
[9] M. Akhtaruzzaman, A.A. Shafie, Evolution of humanoid robot and contribution of
various countries in advancing the research and development of the platform, in: ICCAS
2010, 2010, pp. 1021–1028.
[10] What's the Future Role of Humanoid Robot 2019, https://www.
machinedesign.com/motion-control/what-s-future-role-humanoidrobots, (Accessed 26
January 2019)
[11] S. Schulz, G. Bretthauer, A uidic humanoid robothand, Humanoids 16 (2001) 133–139.
[12] J. Martin, S. Beck, A. Lehmann, R. Mikut, C. Pylatiuk, S. Schulz, G. Bretthauer, Sensors,
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identification and low level control of a exible anthropomorphic robot hand, Humanoids 18
(2003).
[13] Cutkosky, M.R., 1989, “On grasp choice, grasp models, and the design of hands for
manufacturing tasks”, IEEE Transactions on Robotics and Automation, 5(3):269-279.
[14] http://automa.cz/cz/casopis-clanky/antropomorfni-chapadla-pronestrojirenske
aplikace-2003_11_28997_2856/.
[15] Špakovský Filip: Design of an animatronic effector. Thesis. 2016
[16] F. van der Hulst, S. Schatzle, C. Preusche, and A. Schiele, “A functional anatomy based
kinematic human hand model with simple size adaptation,” in IEEE International Conference
on Robotics and Automation (ICRA), St. Paul, MN, USA, May 2012, pp. 5123–5129.

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