The design of the Hand gesture Controlled Soft Robot Manipulator is a bilateral system and the main design comes as master side design, slave side design and communication in between as shown in the above figure.

Mainly the master side is the Hand Gesture Controlling Mechanism and the slave side is the Robot Manipulator Mechanism with a Soft Gripper. So the designing was performed individually for the two systems and then finally both systems was integrated as one design.

Overall Design

The position, orientation, velocity of the fingertips and the position of the wrist of the arm from the Leap Motion Controller was tracked. Then using Processing IDE,  an algorithm to generate a dynamic variable that will change accordingly, was developed. Then it was connected to the Soft Gripping mechanism.