Wireless Bluetooth Remote Control of a Multi-Fingered Metamorphic Hand—Metahand

The multi-fingered metamorphic hand discussed in this paper is a robotic hand that allows complex and accurate kinematic and dynamic movement of all its elements. The novelty lies in the metamorphic palm that increases dexterity of the hand to grasp complex shapes. Although the hand is actuated through a wired control real-time system, a need for a better, modular and user friendly control interface is required, especially when all hand elements are expected to move simultaneously and grasp various objects. This paper introduces a control interface based on wireless Bluetooth remote connection. Whereby, wireless control is implemented by means of a game controller known as the “Wii-remote”, and a supplement of that controller known as the “Nunchuck”, with emphasis on controlling the novel metamorphic palm by mimicking the movement of the human hand whilst holding the Wii-remote controller. The paper will also highlight distinctive features of the controller along with suggested developments and sensor feedback improvements.