THE OFFICIAL JOURNAL OF ENGINEERING RESEARCH

ROBOTIC ARM WITH EXOSKELETON CONTROLLER

Francis Dennis C. Acquiat, Sylvester Louie B. Dumagan,
Kymm Alexis S. Paña, Joniel Jansen L. Tesara,
and Aylmer Ronnel L. Sombilla

ABSTRACT

This study aimed to create a robotic arm that can follow the movements
of the human arm and carry two hundred fifty grams. The exoskeleton
controller comprised of an accelerometer that controlled by the MBED
microcontroller; a potentiometer which provides a variable resistance
that can reads the analog value of the PIC16f877 to control the 4
DOF (degrees of freedom) and six servo motors responsible for main
movement. For the device to be deemed effective, efficiency of its
individual feature’s performance and as a whole was evaluated. Employed
to assess the robot’s overall performance was the quantitative research
method. Functionality testing and evaluation shows that the robot was
effective in performing its designated task. Improvement factors are
still present in order for the robot to achieve optimum performance
and become a true aid for the factory workers to perform hazardous
task. Thus, the researchers recommends to the aspiring researchers
and departments to further conduct studies and observations for the
improvement of the robotic arm with exoskeleton controller.

Keywords: Robotic arm, accelerometer, microcontroller, servo motors,

Philippines

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INTRODUCTION

Robotics is a special engineering science which deals with

designing, modeling, controlling, and robots’ utilization. Nowadays,
robots accompany people in everyday life and take over their daily
routine procedures. As the research progressed, robots were recognized
not only as simple action performers but as machines that have diverse
and various purposes and usage (Gohil, et al., 2013).

Due to a variety of hazards found in the workplace environment,

metal fabrication and material handling can be a potentially dangerous
industry if employees do not closely adhere to safety regulations. Metal
fabrication can be hazardous; workers may risk inhalation of welding
fumes and other emission from lubricants or chemicals. If there is a lack
of adequate exhaust and ventilation systems, these fumes and odors
can cause disorientation. Material handling is a relatively frequent
cause of injury in the workplace. Most handling injuries tend to be
musculoskeletal-related, and can range from minor sprains to more
serious ailments. Long-term damage may develop in the form of a
repetitive strain injury (RSI), occupational overuse syndrome (OOS),
or cumulative trauma disorder (CTD).

Industrial automated robots are dedicated to perform repetitive

manufacturing tasks that are often unsafe or unpleasant for human
workers. Applications are performed with precision and high repeatability
every time. With robots, throughout speeds increase, which directly
impacts production. An automated robot has the ability to work at a
constant speed without pausing for breaks, sleep, vacations; it has the
potential to produce more than a human worker. Thus, robots increase
workplace safety. Workers are moved to supervisory roles where they
no longer have to perform dangerous applications in hazardous settings
which improved worker safety leads to financial savings. Hence, there
are fewer healthcare and insurance concerns for employers. Automated
robots also offer untiring performance which saves valuable time. Their
movements are always exact and minimizing material waste (Wanner,
1992).

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The robotic arm can be designed to perform any desired task

such as welding, material handling, spinning etc., depending on the
application. This robotic arm have one thing in common to factory
workers, they can operate in the human-occupied workspace without
safety fencing. That does not mean their workspaces are devoid of
safety peripherals, but gone are the elaborate safety guarding systems
of their heavyweight cousins. Now, it is not about a particular task or
process anymore, it is a function of the fact that it is anthropomorphic
and we have a natural connection to it (Nieves, 2013).

Nowadays, people are fascinated on the progress of these technologies.

They keep searching, exploring and expanding new fundamentals
which may contribute to the development of technology. We all know
that technology plays a big role in our everyday lives especially in this
generation for it improves our way of living, dealing in some aspects of life.
Thus, technology makes life easier and more comfortable.

This study aimed to create a robotic arm that would recognize and
follow the movement of the human master’s arm. This robotic arm has
4 degrees of freedom and can carry at least 250 grams without the use
of a system unit. Thus it also aimed to expand the robotic exposure of
the students that may lead to a greater and wider robotic literacy.

INPUT PROCESS OUTPUT

• Potentiometer and
accelerometer converts
mechanical motion to
electrical signal
Motion of Motion of the
• Microcontrollers
the users’ arm robotic arm
analyzes the
transmitted signal
• Analog to Digital
Conversion

Figure 1. Conceptual framework of the study

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Potentiometers are devices that are commonly used in varying or

adjusting voltage, resistance, signal etc., depending on how it is used.
Accelerometer is a small device made up of axis-based motion sensor.
This kind of sensors serves as the joints providing position feedback to
the motors. Those two sensors are used as a movement sensor on the
exoskeleton controller.

The framework above illustrates the development of new

equipment consisting of different electronic materials, modules, and
ready-made devices. The robotic arm has 4 degrees of freedom (e.g.
from base 180O-90O-180O-90O) and it can carry at least 250 grams of
load. Through the use of the exoskeleton controller/analog signal from
the potentiometer on the master’s arm, the transmitted signal will be
analyzed and undergo digital conversion. After the analog to digital
conversion is made, the digital data are processed thoroughly in the
microcontroller. The Robotic arm which is composed of servo motors
would receive the data and mimic the movements of the master’s arm.

METHOD

The method used in this study were the experimental development

and descriptive methods. Experimental development would involve
systematic work, drawing on existing knowledge gained from research
and or practical experience, that was directed to producing new
materials, products or devices; to installing new processes, systems
and services; or to improving substantially those already produced or
installed (OECD Frascati Manual, Sixth Edition, 2001). Further, the
study subjected the device for functionality test procedures. On the
other hand, descriptive method was based on the collective assessment
of evaluators of the device through the use of a researcher – made
questionnaire.

The study used a wearable arm controller as an exoskeleton

controller; it also uses potentiometer and accelerometer as a movement
sensor that would read every movement or gestures that the master

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will execute. A servomotor was utilized to allow for a precise control

of angular position, velocity, and acceleration. The project also used
a microcontroller that would serve as the brain of the project design.
The dimensions of the robotic arm was 113 mm from the base to its
shoulders, 105 mm from shoulders to its elbow, 96 mm from elbow to
its wrist and 150 mm from wrist to its clamp.

The study conducted at the University of the Immaculate

Conception, Bonifacio Street, Davao City. The Engineering and
Architecture department of the university offers three specializations
namely, Computer Engineering, Civil Engineering, Electronics and
Communication Engineering and Architecture. These courses enable
students to develop their engineering knowledge, skills, imagination
and experience. This institution serves as the field of development in
designing and improving the design project for the reason that the
researcher can easily conduct the experimental method. The area was
more convenient and accessible for the respondents and evaluators in
monitoring the development of the device.

There were twenty respondents and evaluators in this study.

The evaluators were those who were responsible for future use of the
device and related personnel. It would include two (2) mechanical
engineers, three (3) electronics engineers, five (5) factory workers,
five (5) engineering faculty members and five (5) selected engineering
students.

For the statistical treatment of data, the Likert scale shown

below was used to measure the level of accuracy and functionality of
the robotic arm with exoskeleton controller. The highest rating is 5
which correspond as “Highly Agree” and the lowest rating is 1 which is
labeled as “Highly Disagree”. The level of scale described the response
of the evaluators based on their observation of the system at actual
implementation and application.

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Interpreting Mean Level

Mean Level Responses Description Interpretation

The system exhibit the

4.20-5.00 Highly Agree Very High feature being asked all
the time
The system exhibit the
3.40-4.19 Agree High feature being asked
most of the time
The system sometimes
2.60-3.39 Moderately Agree Moderately High exhibit the feature being
asked
The system rarely
1.80-2.59 Disagree Low exhibit the feature being
asked
The system never exhibit
1.00-1.79 Highly Disagree Very Low the feature being asked

Technical Flowchart
Robotic arm
Processing unit

Servo Motor
Wearable arm controller (Base)

Servo Motor
PIC (Shoulder)

Servo Motor
Movement Wired signal (Elbow)
sensor transmission

Servo Motor
(Clamp)

MBED
Servo Motor
(Wrist)

Figure 2. Technical flowchart

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The flowchart represents the series of process on how this project

works. From the movement sensors which are the potentiometer and
accelerometer, they send signal through wired transmission. The
movement sensor is used as an analog input to vary the duration of the
control signal pulses. The PIC and MBED receives the analog signal then
converts the signal into a value in which becomes the programmable
data and sends this data into the digital servo motors. After that, a
small microprocessor inside the servo analyzes the signals sent, and
processes these into very high frequency voltage pulses to the servo
motors. Then the digital servo motors are going to rotate based on the
program from the PIC and MBED microcontrollers.

RESULTS AND DISCUSSION

Features of the Design

The features of the robotic arm with exoskeleton controller were

the following:

a) Will follow the movement of human arm

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b) The robotic arm has 4 degrees of freedom

c) From base 180O-90O-180O-90O

d) Allowed to be wired to the master
e) Can carry 250 grams,
f) Not allowed to use a system unit.

Table 1. Robotic arm with exoskeleton controller (Functionality)

Question Mean Descriptive Rating

1. The sensors are able to perform the

following:
a. base rotates 180° 4.50 Highly Agree
b. shoulder rotates 180° 4.50 Highly Agree
c. elbow rotates 90° 4.60 Highly Agree
d. wrist rotates 180° 4.35 Highly Agree
e. clamp executes 90° 4.70 Highly Agree
2. The device carries at least 250 grams of 4.10 Agree
load.
3. It can thoroughly mimic the motion of the 4.05 Agree
master’s arm.
4. It performs its functions as prescribed. 4.50 Highly Agree

Overall Mean 4.41 Highly Agree

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Table 1 shows the device’s functionality of the robotic arm based

on the evaluation. Based on the table, the question that got the lowest
rating is question number three. The evaluators rated it lowest because
they may found it not responsive enough. The question that got the
highest rating was question number one letter “e,” the evaluators rated
it the highest because the clamp functions well when evaluating.

Table 2. Robotic Arm with Exoskeleton Controller (Device Transmission)

Question Mean Descriptive Rating

1. The devices’ rotating points perform

its relayed function specifically on the
following:
a. base, shoulder, elbow, and clamp 4.65 Highly Agree
points (potentiometer)
b. wrist point (accelerometer) 4.60 Highly Agree

Overall Mean 4.63 Highly Agree

Table 2 shows the device transmission functionality of the

potentiometer giving the angular position values on base, shoulders, elbow,
and clamp and an accelerometer used on sensing the angular position on
the wrist of the exoskeleton controller. The evaluators rated highly agree
which means the device transmission was functional and accurate.

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Table 3. Robotic arm with exoskeleton controller (Design and

Appearance of Device)

Question Mean Descriptive Rating

1. It is physically dynamic and presentable. 4.15 Agree

2. It is suitable for hazardous industrial 4.15 Agree
workplace.
3. Its design is genuine. 4.05 Agree
4. It is safe to use and can be controlled 4.30 Highly Agree
easily.

Overall Mean 4.16 Agree

Table 3 is the evaluation results of the design and appearance of

the device. It can be seen in the table that the question has the mean
values of 4.05, 4.15, 4.15, and 4.3 having overall mean value of 4.16
which indicates that the mean values and overall mean value are inside
the ranges within 4.05 to 4.3 which tells that the evaluators agree with
design and appearance of the device. The evaluators found the design
of the device appealing but not that dynamic.

Table 4. Robotic arm with exoskeleton controller (Marketability of the

Device)

Question Mean Descriptive Rating

1. It attracts manufacturing industries. 4.40 Highly Agree

2. It is cheap or inexpensive. 3.60 Agree
3. It replaces human labor. 4 Agree

Overall Mean 4 Agree

On Table 4 is the result of evaluation of the device with regard to its

marketability. The devices’ market potential is on average mean of 4 which
implies that this has a marketability potential. The evaluators rated low
scores on the price of the device which means that device is fairly expensive.

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Table 5. Functionality test (250 grams)

No. of Trials Distance (inches) Time Duration (seconds)

1 15 8.65
2 15 9.62
3 15 8.03
4 15 11.59
5 15 7.42
6 15 9.83
7 15 10.49
8 15 13.22
9 15 7.39
10 15 9.74
11 15 8.23
12 15 9.93
13 15 10.34
14 15 6.56
15 15 7.44

Mean 9.23
Standard Deviation 1.79966
Test Value 9.89
t-value -1.416
p-value 0.179

Decision Since the p-value >0.05, there is

no significant difference between
the test value and the mean of the
sample.

There is a 95 percent prospect that the time it takes for the robotic
arm to transfer a load of 250 grams a distance of 15 inches is equal to
9.89 seconds.

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REFERENCES

“Custom Manufacturing and fabricating”, Retrieved November 10,

2014 from www.thomasnet.com

Gohil, V. J., et al. (2013). “Robotic arm control using haptic

technology”. Retrieved June 30, 2014 from http://www.
mnkjournals.com

Nieves, E. (2013). “The End of Separation: Man and Robot as

Collaborative Coworkers on the Factory Floor”. Retrieved from
http://www.robotics.org

Wanner, K. (1992). “An Introduction to Robot Technology”.

Retrieved June 30, 2014 from http://www.robots.com

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