Weareable Wireless Robotic Arm Controller

The goal of this project is to develop a wearable control interface capable of teleoperating a robotic arm in real-time. By integrating motion tracking and flex sensing, the system allows for an intuitive, human-like control experience, bridging the gap between user intent and mechanical execution. Beyond simple movement, this technology aims to decentralize the operator from the machine, allowing for complex tasks to be performed at a safe distance or in specialized environments.

Technical Objectives

• Integrate an MPU6050 IMU to capture 3D spatial orientation and flex sensors to monitor finger articulation.
• Implement a peer-to-peer communication protocol using the native 2.4GHz radio of the ESP32 to minimize data packet overhead.
• Use the XIAO ESP32-C3 for its compact footprint on the wearable side and an ESP32 DevKit V1 for the heavy-duty PWM servo control on the robotic side.
• Develop a software algorithm to filter raw sensor noise and map human degrees of freedom to the mechanical limits of the arm.

Challenges and Technical Hurdles

The greatest technical challenge is achieving a near-zero lag between the user’s hand and the robot’s response. The data from the MPU6050 can be noisy so the implementation of digital filters (like a Complementary filter) is essential to smooth out the motion without introducing additional delay. Since the controller is a "Smart Glove," it must be comfortable for long-term use so the XIAO ESP32-C3 and the battery must be positioned to avoid straining the user's wrist. Another challenge lies in creating a mounting system that ensures the flex sensors stay aligned with the knuckles during repeated bending, providing consistent resistance readings.