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ROBOTIC ARM AND ITS CONTROL

ABSTRACT
In this project, we design and build a versatile robotic arm system. The arm has the ability to manipulate objects such as pick and place operations. Firstly, the robotic arm is built in order to interface with a prosthetic control board. The circuit board enables user to completely control the robotic arm and moreover, enables feedbacks from user. The control circuit board uses a powerful integrated microcontroller, a PIC (Programmable Interface Controller). The PIC is primarily programmed using assembly programming language and it is used as the brain of the arm. The second part of the project is to use speech recognition control on the robotic arm. A speech recognition circuit board is constructed with onboard components such as PIC and other integrated circuits. The robotic arm is able to receive instructions as spoken commands through a speech recognition system via a microphone and perform operations with respect to the commands such as picking and placing operations.

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ROBOTIC ARM AND ITS CONTROL

1. INTRODUCTION
An upper limb myoelectric prosthetic arm is an aid that tries to give a chance of a better quality of life to disabled people. It tries to give back some of the natural and fundamental functions of a physiological human arm, even if the movements that is able to perform are not so deeply similar to those of a natural arm. To control such a device, several ways are possible. The more traditional one is nowadays the EMG (electromyography) control, which is based on EMG signals extracted from surface electrodes of users arm or forearm, while the simplest technique is using buttons or switches when the electromyography activity of patient muscles is not so good or clear. Lately, in the last decade more complex ways were explored to widen the range of possible input sources for the controller of a prosthetic arm, so neuro cortical control , foot control with wireless wearable insoles , control with implantable myoelectric sensors (IMES), with MMG sensors (mechanomyographic) and ultrasonic sensors were

investigated, even if is not clear if these techniques are really used by patients in their everyday life or if they are just interesting theoretical contributions in the wide field of prosthetic arm control. All these techniques start from the assumption that the prosthetic motion is directly linked to the human motion, the source being both the EMG activity or the foot motion or something else. Since the most common control scheme for an upper limb prosthetic arm is a sequential control (where signals or switches are used to change control from one degree of freedom to another), it follows that all these techniques have the same problem: when the patient has to perform a complex task, formed by a predetermined and precise sequence of movements, he has to do a precise sequence of contractions/movements, always remembering which motor is selected in every instant of time. This is not as simple as one can believe, especially when there are more degrees of freedom (typically three for a transhomerus or a shoulder disarticulated patient: the flection/extention of the elbow, the prono/supination of the wrist and the opening/closing of the hand). A myoelectric prosthesis uses EMG signals or potentials from voluntarily contracted muscles within a person's residual limb on the surface of the skin to control the

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ROBOTIC ARM AND ITS CONTROL

movements of the prosthesis, such as elbow flexion/extension, wrist supination/pronation (rotation) or hand opening/closing of the fingers. Prosthesis of this type utilizes the residual neuro-muscular system of the human body to control the functions of an electric powered prosthetic hand, wrist or elbow. This is as opposed to an electric switch prosthesis, which requires straps and/or cables actuated by body movements to actuate or operate switches that control the movements of prosthesis or one that is totally mechanical. It is not clear whether those few prostheses that provide feedback signals to those muscles are also myoelectric in nature. It has a self suspending socket with pick up electrodes placed over flexors and extensors for the movement of flexion and extension respectively. Let consider the following case: a patient has to bring a bottle and pour water into his glass. The sequence of contractions that he must do, in the case of sequential control of the motors and thinking about three sources of emg signal, is illustrated in table 1:

TABLE I

From the table above we can understand that even if the motion task seems to be very easy, the patient has to do a precise sequence of twelve contractions to perform it. If

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we think that now, in some cases, there is the idea to add, besides the elbow, the wrist and the hand motors, also a shoulder motor group with two motors, one for the intra-extra rotation and one for the elevation-adduction, (so adding four possible movements, with other four sources of emg signals) it is clear that controlling the prosthetic device only with emg signals could become more and more difficult, also because the possible EMG sources located in the muscles near the amputation line are not utilizable, due to a bad or insufficient EMG activity. For this reason we thought to another alternative input source, potentially efficient and easy to be used, and overall disconnected from the human body motion. In particular we focused on the voice control.

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2. HOW DOES THE MYOELECTRIC ARM WORK?


Electric prostheses use small electric motors to move the replaced limb. These motors can be found in the terminal device (hand or hook), wrist and elbow. An electrically-powered prosthesis utilizes a rechargeable battery system to power the motors. Since electric motors are used to operate hand function, grip force of the hand is significantly increased in comparison to earlier functional prostheses, often in excess of 20-32 pounds (Motion Control).

There are many ways to control an electrical prosthesis, one of the more popular being myoelectric control. Whenever a muscle in the body is contracted, or flexed, a small electrical signal called an EMG in the range of 5 to 20 microvolts is created by a chemical interaction in the body (Animated Prosthetics). A typical light bulb uses 110 to 120 volts, so the signal generated by the body is less than a millionth of the strength of a light bulb (Animated Prosthetics). One of the key components of the myoelectric arm is the electrode attached to the surface of the skin to record the EMG signal. Once recorded, the signal is amplified, then processed by a controller that switches the motors on or off in the hand, wrist, or elbow to produce movement and function (Animated Prosthetics).

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Not everyone can wear the myoelectric arm. Users must be able to produce an EMG strong enough to be recorded and sufficiently amplified. Users must also be able to separate muscle contractions. Separating contraction means that when one muscle is contracted, the opposing muscle is relaxed. If both muscles were contracted at the same time (co-contraction), the controller would receive signals to both turn the motor on and off at the same time. This would signal the hand to open and close simultaneously, resulting in no function.

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2.1 ADVANTAGES AND DISADVANTAGES


There are several advantages to wearing an electric prosthesis like the myoelectric arm. Most people prefer this type of control because non-electric prostheses are often laborious to operate, whereas simply flexing a muscle can control myoelectrically powered prostheses. They eliminate the need for the tight harness amputees have to wear if they choose a non-electric prosthesis. Since electric prostheses do not have to utilize a control cable or harness, cosmetic skin made of silicon or latex can be applied to the prosthesis, greatly enhancing the cosmetic restoration (Advanced Arm Dynamics). Perhaps the greatest advantage of the myoelectric arm is the operational range. It can be used over the head, down by the feet, and out to the sides of the body. Such movements are nearly impossible with cumbersome, non-electric prostheses. Unfortunately, the myoelectric hand is not perfect. One of the major inconveniences of electrically powered prostheses is the required battery system. Such a system needs a certain level of maintenance, including charging, discharging, and the eventual disposal and replacement of the battery. Electrically powered prostheses also tend to be heavier than other prosthetic options due to the weight of the motor and batteries. However, advanced suspension designs have minimized the weight greatly. Another disadvantage is potential malfunction of the arm, resulting in costly repairs. Wearers also have to be very cautious around water. Severe damage to the motor and controller can result from water exposure. Cosmetically there seems to be no disadvantages over traditional prostheses. Yet under extreme conditions, latex covered prostheses are prone to staining, so several coverings may be necessary throughout the device's lifetime. There are several companies that currently produce the myoelectric arm, including Motion Control, Otto Bock Orthopedic Industry, Hosmer, and Liberty and Technology Prosthetics and Orthopedics.

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3. BASIC BLOCK DIAGRAM OF THE SYSTEM


PROSTHETIC CONTROL BOARD

VOICE RECOGNITION SYSTEM MIC

Fig 3: BASIC BLOCK DIAGRAM OF THE SYSTEM

To the arm

3.1 USING THE VOICE TO CONTROL A DEVICE


Nowadays using the voice to control an electronic device is a quite common process, and there are several electronic equipments that can be commanded by voice, such as telephones, surgery robots, wheelchairs, military devices and so on. A voice recognition system is composed by an input device, typically a microphone, and an intelligent core that performs the recognition operations, which are, for the most part, software elaborations of the signal acquired from the input device. Explaining the recognition techniques is not the aim of the paper, but information can be found in. In this work we used the voice recognition system in which the core is the HM 2007 IC by Hualon. The board is connected to an embedded hardware which is the control board of the prosthetic device, which acquires the inputs voice signals, elaborates them and performs the motor actions requested by the patient. The voice recognition process is articulated in two different phases: the first one, called training phase, where the module is taught with the words that it must recognize, and a second phase, the standard operation, where one pronounces a word and the module compares it with the stored words and decide which of them the most similar one is. The module is programmed in voice dependent mode, so it can recognize a word only if it is pronounced by the same person that has done the training phase. In this context, the voice command is not intended to completely substitute the traditional EMG control, but just to join it, to expand the possibilities of controlling the device, and to simplify the control process in case of complex and repetitive motion tasks.

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3.2VOICE RECOGNITION
Speech recognition is the process of converting an acoustic signal, captured by a microphone or a telephone, to a set of words. The recognized words can be the final result, as for applications such as command & control, data entry, and document preparation or retrieval. The basic assumption of the whole word pattern matching approach is that different utterance of the same word by a particular talker result in similar patterns of sound. There will be variation in spectrum shape at corresponding parts of the patterns from the same word. There will also be variations in the time scale of the patterns, and this will make it difficult to compare corresponding parts. The basic building block of speech is the phoneme. There is one phoneme for every basic sound in the language. For example, the word 'cat' is constructed from three phonemes -'k', 'a' andt. A Speech Recognition Engine will need to construct the sequence of the phonemes in the speech, before it can produce the sequence of words. This is typically carried out in a number of distinct stages.

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3.3 VOICE RECOGNITION SYSTEM


Voice recognition involves inputting of information in to a computer using human voice and the computer listening and recognizing the human speech. Voice recognition is still being actively researched as problems posed are more difficult than those of speech synthesis. Thus, successful commercial speech recognition systems are few and far between the more successful ones are speaker dependent single-work systems. Such systems operate in one of two modes. In the training mode the user trains the system to recognize his/her voice by speaking each word to be recognized in to a microphone. The system digitizes and creates a template of each word and stores this in its memory. In the recognition mode each spoken word is again digitized and its template compared with the templates in memory. When a match occurs, the word has been recognized and the system informs the user or takes some action. The performance of such systems is affected by speakers not passing long enough after each word, background noise, and how clearly and carefully the work is spoken. The two important DSP operations in a recognizer are parameter extraction, where distinct patterns are obtained from the spoken word and used to create template and pattern matching where the templates are compared with those stored in memory; see fig. For most people, voice is the most natural form of communication, being faster than writing or typing. Thus, in the office environment, voice systems now exist which allows application programs to be driven by voice commands instead of by keyboard entries. Systems which will allow the usual office documents, such as letters and memos, to be
ADC PARAMETER EXTRACTION PATTERN MATCHING OUTPUT DEVICE

TEMPLATE MEMORY

Fig 4: BLOCK DIAGRAM OF VOICE RECOGNITION SYSTEM

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created and sent by voice are envisaged. Word recognizers are being incorporated in to consumers products, such as voice operated telephone dialing systems, and are used in voice activated domestic appliance for disabled people with limited movement. This increases their independence by enabling them to perform simple tasks such as turning on/off lights, radio or TV. There are of course numerous potential applications of voice recognition. However, it appears that future advances in this area will rely significantly on artificial intelligence techniques because of the need for machines to understand as well as recognize speech. A speech recognition control system capable of controlling the robotic arm using voice commands is also constructed, where hands-free operation is desired. The ability to communicate with a robot through speech is the ultimate user interface. When a robot obtains the ability to recognize words, it is well on its way to becoming a true humanoid. This speech recognition control circuit to be built provides a simple and effective means for humans to specify a task for the robot to acquire new skills without any additional hard coded programming. Robots have become important over a wide range of applications--from manufacturing, to surgery, to the handling of hazardous materials. Consequently, it's important to understand how they work, and what problems exist in designing effective robots.

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3.4 VOICE RECOGNITION CHIP

HM2007 HM2007is a single chip CMOS voice recognition LSI circuit with the on-chip analog front end voice analysis, recognition process and system control functions. A 40
isolated-word voice recognition system can be composed of external microphone, keyboard, 64K SRAM and some other components .Combined with the microprocessor,

an intelligent recognition system can be built. FEATURES


Single chip voice recognition CMOS LSL Speaker-dependent isolates-word recognition system. External 64K SRAM can be connected directly. Maximum 40 words can be recognized forODCchip. Maximum 1.92 sec of word can be recognized, Multiple-chip configuration is possible. A microphone can be connected directly. Two control modes are supported: Manual mode and CPU mode. Response time : less than 300 ms. 5V single power supply.
48-pin PDIP, 51 pin PLCC. 48 pad bare chip.

TC8860F The voice recognition chip used for processing the input speech is TC8860F. It is a single chip LSI with onchip circuits and functions required for voice recognition including analog circuit, registration RAM, and pattern matching function. It is possible to construct a voice recognition system only by externally connecting a microphone and keyboard to this LSI. The chip can be operated in manual/CPU mode. In manual mode of operation, a 4 x 3 keypad matrix is used for inputting the commands to the chip. The chip has a 4Kbit volatile built in SRAM.

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FEATURES OF TC8860F: Single chip voice recognition LSI Speaker dependent word recognition system Linear matching system No. of words that can be registered: Max 10 words Response time is Max 0.60sec, average 0.35sec Input voice time length allowed: 0.16 ~ 0.96sec Built-in 4Kbit RAM for registration A microphone for inputting the voice Built-in 800KHz oscillator circuit 5V single power supply

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3.5 COMPARISON OF DIFFERENT VOICE RECOGNITIONCHIPS


Chip TC8860F HM2007 RSC-64 TMS-320C2X Manufacturer Toshiba Huilon Sensory devices Texas Instruments SNR in dB 30dB <10dB 15dB 25dB Cost 15$ 25$ 20$ 30$

Table 2: Table for comparison of different chips available

The comparison of different speech recognition chips yields us the information that HM2007 is having an average signal to noise ratio. Apart from the cost of the chip, its availability was given more importance compared to its counterparts. This is the reason why it is selected for designing the voice controlled prosthetic arm project. The pin out of the HM2007 IC is given in the figure below.

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Fig 5: PIN OUT OF HM 2007 IC

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4. MOTION SYSTEM USING VOICE RECOGNITION CONTROL


The speech recognition circuit functions as a standalone circuit and it works independently. Words are recognized through interrupt operations whereby the recognition line is connected to the robots interrupt lines. This is much better than using polling operation that causes CPU overhead. The main component of the circuit is the HM 2007 speech recognition chip. The HM 2007 chip is a CMOS voice recognition chip with voice analysis, recognition process and system control functions. The other major components are the 64K CMOS Static RAM chip, microphone, 12 button-keypad and 74LS373 chip. Data can be written and read from the SRAM chip and the 74LS373 functions as a latch with 3-state outputs. There are also two BCD to 7-segment converters used to display the output the words recognition. It functions as an indicator to user as the circuit is working properly. The circuit is a speaker dependent system whereby it is only able to recognizing the individual that train the circuit. It a capable of providing high functioning output as high as 95% accuracy. However, there is constraint of the circuit

Fig 6: CIRCUIT DIAGRAM FOR SPEECH RECOGNITION SYSTEM

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concerning the style of speech it can recognize. For example, it can only recognize words that spoken separately with pause in between each word. It is programmable to recognize 40 unique words of 0.96s length and a maximum of 20 words of 1.952s length. The length of the words affects the number of words able to be store in the 8K x 8 static RAM chip. The circuit is able to detect voice as far as one foot from the microphone. This speech circuit provides many advantages compared with other circuits as the response time is less than 300 ms, it requires only a 5 V DC power supply and it can support CPU mode and manual mode whereby the manual mode is connected to a keypad and CPU mode is connected to a microcontroller

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4.1 TESTING AND TRAINING OF SPEECH RECOGNITION CIRCUIT


The circuit shown in Fig. 6 was constructed into on breadboard for testing and training. Testing and training the HM 2007 chip in manual mode requires the keypad and microphone. When the circuit is powered on, the HM 2007 checks the static RAM and display 00 on the 7-segment and also lights the LED. The system is in ready state and ready to be trained. Training procedures of the circuit includes: 1. Press 01 and the 7-segment will display 01. Led will turn off. 2. Then press train and Led will on again. 3. Hold the microphone close to user and say training word. 4. If word is recognize by circuit, Led will blink. 5. Repeat the training word and 01 will be display if word is accepted. 6. Continue training with other words and train from 02 to a maximum of 40.

The output is connected to a PIC microcontroller to read the all the 8-bit outputs from the circuit. The 8 outputs are taken from the output of the 74LS373 latch. The PIC is then connected to the serial servo controller circuit and control the movement of the 8 servo motors. The circuit was constructed a few times and troubleshooting was done by ensuring all connections are correct and all necessary pin connections are connected.

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5. PROSTHETIC CONTROL BOARD


The output from the speech processing board is allowed for controlling of servo motors. The programmable Interrupt Controller (PIC) is used for actuating the motors. The PIC is being programmed using MPLAB-IDE. Assembly language is written in this workbench and written into the PIC using a hardware called INCHWORM PROGRAMMER provided by MICROCHIP (Manufacturer of PIC). The programmer hardware is shown below.

Fig 7: INCHWORM PROGRAMMER

An ordinary human arm consists of the following parts: Upper arm Elbow Wrist Fingers

The robotic arm is designed to be similar with a human arm with nine degrees of freedom where each part of the arm is actuated with servo motors.Our objective is to attain all the degrees of freedom. This is accomplished using high torque motors. Among different types of DC motors available, servo motors have higher torque capacity. This enables the prosthetic arm to do jobs in close relation with an ordinary arm. The table

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shown below gives a clear idea about the relation between output combinations of speech processing system with that of the arm movements. The robotic arm is controlled by the control board which is based on the PIC 16F877A, a type flash programmable controller. The main objective of designing using a microcontroller is that a large amount of electronics needed for certain applications can be eliminated.

BIT COMBINATIONS B3 0 0 0 0 0 0 0 1 B2 0 0 0 1 1 1 1 0 B1 0 1 1 0 0 1 1 0 B0 1 0 1 0 1 0 1 0

ARM MOVEMENTS

Shoulder motor right Shoulder motor left Elbow motor up Elbow motor down Wrist motor right Wrist motor left Plunger for finger movement (IN) Plunger for finger movement (IN)

(Fig 12 Truth table for arm movement Designing)

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5.1 PIC 16F877A


This is an 8-bit controller with programmable flash memory.

PERIPHERAL FEATURES: Timer0: 8-bit timer/counter with 8-bit prescaler \ Timer1: 16-bit timer/counter with prescaler, can be incremented during Sleep via external crystal/clock Timer2: 8-bit timer/counter with 8-bit period register, prescaler and postscaler Two Capture, Compare, PWM modules Capture is 16-bit, max. resolution is 12.5 ns Compare is 16-bit, max. resolution is 200 ns PWM max. resolution is 10-bit

Synchronous Serial Port (SSP) with SPI (Master mode) and I2C (Master/Slave) Universal Synchronous Asynchronous Receiver Transmitter (USART/SCI) with 9-bit address detection Parallel Slave Port (PSP) 8 bits wide with external RD, WR and CS controls (40/44-pin only) Brown-out detection circuitry for Brown-out Reset (BOR)

ANALOG FEATURES: 10-bit, up to 8-channel Analog-to-Digital Converter (A/D) Brown-out Reset (BOR) Analog Comparator module with: Two analog comparators Programmable on-chip voltage reference

(VREF) module

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Programmable input multiplexing from device inputs and internal voltage reference

Comparator outputs are externally accessible

SPECIAL MICROCONTROLLER FEATURES: 100,000 erase/write cycle Enhanced Flash program memory typical 1,000,000 erase/write cycle Data EEPROM memory typical Data EEPROM Retention > 40 years Self-reprogrammable under software control In-Circuit Serial Programming (ICSP) via two pins Single-supply 5V In-Circuit Serial Programming Watchdog Timer (WDT) with its own on-chip RC oscillator for reliable operation Programmable code protection Power saving Sleep mode Selectable oscillator options In-Circuit Debug (ICD) via two pins

CMOS TECHNOLOGY:
Low-power, high-speed Flash/EEPROM technology Fully static design Wide operating voltage range (2.0V to 5.5V) Commercial and Industrial temperature ranges Low-power consumption

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CONCLSUION

During the first phase of our project we were able to finish the speech recognition part and a part of the prosthetic control board. The construction of the arm and interfacing the servo motors are the major task before us for the second phase of our project.

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REFERENCE:
Tele-Operated Anthropomorphic Arm and Hand Design Namal A. Senanayake, Khoo B. How, and Quah W. Wai Controlling a prosthetic arm with a throat microphone Elena Mainardi, Angelo Davalli Development of a prosthetic arm: experimental validation with the user and an adapted software V. Artigue, G. Thomann

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