Mechanism Design · Embedded Systems · Arduino · Real-Time Control
A 6-degrees-of-freedom robotic arm that mirrors the operator's movements in real time, with trajectory recording and repeatable playback functionality. Built as a personal R&D project to explore human-robot motion mirroring.
| Item | Detail |
|---|---|
| Degrees of Freedom | 6 |
| Control Mode | Real-time mirroring + trajectory playback |
| Platform | Arduino-based embedded system |
| Status | Functional prototype |
- Real-time motion mirroring — operator arm movements captured and replicated with minimal latency
- Trajectory recording — full movement sequences logged to memory
- Playback — recorded trajectories replayed autonomously and repeatably
- Modular joint design for easy reconfiguration
- Custom kinematics for accurate end-effector positioning
- Sensors on the operator-side exoskeleton capture joint angles across all 6 DOF
- Angle data is processed and mapped to servo commands in real time
- Servos at each joint replicate the motion on the robot arm
- In record mode, all joint angle sequences are logged
- On playback, the stored sequence drives all servos through the recorded trajectory
| The prototype |
| 
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Mechanism Design Arduino Servo Control Kinematics Embedded C/C++ Prototyping Sensor Integration