The Cartesian coordinates of Index, Middle, Thumb fingers and Wrist were tracked, which are X , Y , and Z values and then by Vector addition method the wrist to fingertip parameter was obtained, which is (K), the K value ranged from minimum value of 50 (calibrated digital value of Arduino) to maximum value of 150 (calibrated digital value of Arduino).
The changing coordinates of the moving human hand, is precisely tracked and monitored by the Leap Motion Controller and the movement is displayed on the adjoining screen. The soft robot arm recreates the same movement, done by the human hand, using it's fingers based on elastromers as demonstrated in the next section.