PROTOTYPE LENGAN ROBOT ANTHROPOMORPHIC BERBASIS FLEX SENSOR UNTUK TELEOPERATION JARAK JAUH
DOI:
https://doi.org/10.37971/radial.v14i1.629Keywords:
Teleoperation, antHropomorphic Robot Arm, Flex Sensor Glove, LoRa, Raspberry Pi Zero 2WAbstract
This study develops a comprehensive design for a multi-degree-of-freedom (multi-DOF) anthropomorphic robotic arm teleoperation system as a solution for robotic operations in hazardous environments. Unlike previous studies, which have not integrated a natural control interface, long-range communication, and a low-power computing platform into a single integrated system, this study combines a flex sensor glove as the control interface, a 915 MHz LoRa SX1276 module as the communication medium, and a Raspberry Pi Zero 2W as the computing unit at both nodes. The design was carried out hierarchically through the development of a two-node architecture, a 3D-printed PLA tendon-driven mechanism, an electronic circuit with power domain separation, a 14-byte LoRa data packet protocol featuring CRC-8 and ACK/NACK, and Python-based multithreading software. The design targets an end-to-end latency of <100 ms (estimated at 84 ms), a motion replication accuracy (MAE) of <9°, a packet delivery rate of ≥95%, and a communication range of ≥500 m line-of-sight. This design serves as a ready-to-implement blueprint for hazardous material handling, disaster rescue operations, and medical rehabilitation.
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