Arduino Powered Humanoid Robot: Arms Control!

About the project

We made few upgrades to our previus project. Now, we can move the robot arms using two T-Skin.

Project info

Difficulty: Difficult

Platforms: Arduino

Estimated time: 4 hours

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

3D Gesture Sensor (Mini) For Arduino 3D Gesture Sensor (Mini) For Arduino x 2

Software apps and online services

Arduino IDE Arduino IDE


Hello! We've upgraded our previously created project by adding another TactigonSkin in the game to control both arms while still be able to walk and makebows. As said, the humanoid robot has an Arduino Leonardo inside, and this timetwo Bluetooth Low Energy modules installed on the "backpack."

The Tactigon is inside its Tactigon Skin hand band, providing buttonsand an ergonomic case on both hands!


We used two Bluetooth low energy module connect to Arduino Leonardo.This solution is not the best solution but we connected two T-Skin (as centralrole) to the two Bluetooth Low Energymodules (peripheral role) installed on the humanoid’s backpack.

Bluetooth Low Energy architecture is based on two roles for the devices:

Central Role and Peripheral Role. A Central Role device can subscribe toPeripheral Role Device’s characteristic, the name of the resource exposed. ACharacteristic can be read only or read/write. It contains the data to be send.

The Tactigon, and T-Skin, can act eitheras Central Role and Peripheral Mode.

The systems is able to follow the movement of the human hand andtranspose this movement in equivalent movement of the robot arms: right andleft. This means if you move the hand clockwise the robot arm follow themovement by moving shoulder and elbow with a more natural effect.


For this project we used only T-SKIN but is possible to integrate thesystem with other Tactigon board, for instance placed on elbow, to avoidinterpolation of the movement and follow the action of the controlling arm!

With a fine tune ofthis architecture, we can control industrial robotic by moving our arm with noload, and so no less stress for human body…

The project is still under development to increase again itscapabilities!


Photo of The Tactigon

The Tactigon

The Tactigon is a brand of Next Industries Milano. Next Industries is a born of a passion to develop devices and sensors fit for Iot Technology. Our team is made of incredible experts in movement detection for big structural monitoring systems, software development and wearable device.


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