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Biomimetic robotic arm remotely controlled by IMU sensor for hazardous chemical experiment.

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Title: Biomimetic robotic arm remotely controlled by IMU sensor for hazardous chemical experiment.
Authors: Kim, Taegang1 (AUTHOR), Do, Geunho1 (AUTHOR), Kwon, Il-Jung1 (AUTHOR), Kim, Ji-Won2 (AUTHOR) kjw802@kku.ac.kr, Ko, Junghyuk1 (AUTHOR) jko@kmou.ac.kr
Source: Technology & Health Care. Mar2026, Vol. 34 Issue 2, p197-207. 11p.
Subjects: Microelectromechanical systems, Chemical safety, Wireless communications, Industrial robots, Single-degree-of-freedom systems, Motion capture (Human mechanics), Detectors, Remote control
Abstract: Background: In recent years, the importance of chemical experiments has increased, and the frequency of chemical experiments has also increased. As the frequency of chemical experiments increases, the number of chemical experiment-related accidents increases proportionally. Objective: Accordingly, we design a remote control biomimetic robotic arm that can safely and actively handle hazardous chemicals on behalf of human to reduce human casualties caused by chemical experiment accidents without compromising the autonomy of experimentation. Methods: This biomimetic robotic arm can identically mimic the operator arm's movement. The robotic arm moves with 6 degrees of freedom (DOF). The inertial measurement unit (IMU) sensor we designed ourselves is based on micro-electromechanical system (MEMS) technology, and in the IMU sensor the accelerometer-gyroscope sensor and the wireless communication module are integrated. This IMU sensor calculates its own instantaneous angle on a particular axis. The micro controller unit (MCU) controls motor using the angle data of the IMU sensor so that the robotic arm moves in the same movement as the operator arm to which the IMU sensor is attached. Results: Three IMU sensors were attached to the operator's upper body, upper arm, and lower arm, enabling the robotic arm to accurately replicate the operator's movements. Performance evaluation through comparative experiments confirmed that the robotic arm closely tracked the operator's joint motion and overall trajectory. Although a time delay of approximately 1.4 s was observed due to communication and processing latency, the system maintained stable performance under various motion and load conditions, with joint angle errors remaining below 5.2%. Conclusion: The proposed system enables biomimetic motion of a robotic arm using IMU-based sensing and wireless control, allowing hazardous chemicals to be handled safely during chemical experiments. [ABSTRACT FROM AUTHOR]
Copyright of Technology & Health Care is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Biomimetic robotic arm remotely controlled by IMU sensor for hazardous chemical experiment.
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  Data: <searchLink fieldCode="AR" term="%22Kim%2C+Taegang%22">Kim, Taegang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Do%2C+Geunho%22">Do, Geunho</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Kwon%2C+Il-Jung%22">Kwon, Il-Jung</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Kim%2C+Ji-Won%22">Kim, Ji-Won</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> kjw802@kku.ac.kr</i><br /><searchLink fieldCode="AR" term="%22Ko%2C+Junghyuk%22">Ko, Junghyuk</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> jko@kmou.ac.kr</i>
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  Data: <searchLink fieldCode="JN" term="%22Technology+%26+Health+Care%22">Technology & Health Care</searchLink>. Mar2026, Vol. 34 Issue 2, p197-207. 11p.
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  Data: <searchLink fieldCode="DE" term="%22Microelectromechanical+systems%22">Microelectromechanical systems</searchLink><br /><searchLink fieldCode="DE" term="%22Chemical+safety%22">Chemical safety</searchLink><br /><searchLink fieldCode="DE" term="%22Wireless+communications%22">Wireless communications</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Single-degree-of-freedom+systems%22">Single-degree-of-freedom systems</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+capture+%28Human+mechanics%29%22">Motion capture (Human mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Detectors%22">Detectors</searchLink><br /><searchLink fieldCode="DE" term="%22Remote+control%22">Remote control</searchLink>
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  Label: Abstract
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  Data: Background: In recent years, the importance of chemical experiments has increased, and the frequency of chemical experiments has also increased. As the frequency of chemical experiments increases, the number of chemical experiment-related accidents increases proportionally. Objective: Accordingly, we design a remote control biomimetic robotic arm that can safely and actively handle hazardous chemicals on behalf of human to reduce human casualties caused by chemical experiment accidents without compromising the autonomy of experimentation. Methods: This biomimetic robotic arm can identically mimic the operator arm's movement. The robotic arm moves with 6 degrees of freedom (DOF). The inertial measurement unit (IMU) sensor we designed ourselves is based on micro-electromechanical system (MEMS) technology, and in the IMU sensor the accelerometer-gyroscope sensor and the wireless communication module are integrated. This IMU sensor calculates its own instantaneous angle on a particular axis. The micro controller unit (MCU) controls motor using the angle data of the IMU sensor so that the robotic arm moves in the same movement as the operator arm to which the IMU sensor is attached. Results: Three IMU sensors were attached to the operator's upper body, upper arm, and lower arm, enabling the robotic arm to accurately replicate the operator's movements. Performance evaluation through comparative experiments confirmed that the robotic arm closely tracked the operator's joint motion and overall trajectory. Although a time delay of approximately 1.4 s was observed due to communication and processing latency, the system maintained stable performance under various motion and load conditions, with joint angle errors remaining below 5.2%. Conclusion: The proposed system enables biomimetic motion of a robotic arm using IMU-based sensing and wireless control, allowing hazardous chemicals to be handled safely during chemical experiments. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Technology & Health Care is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1177/09287329261417466
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        Text: English
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        PageCount: 11
        StartPage: 197
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      – SubjectFull: Microelectromechanical systems
        Type: general
      – SubjectFull: Chemical safety
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      – SubjectFull: Wireless communications
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      – SubjectFull: Industrial robots
        Type: general
      – SubjectFull: Single-degree-of-freedom systems
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      – SubjectFull: Motion capture (Human mechanics)
        Type: general
      – SubjectFull: Detectors
        Type: general
      – SubjectFull: Remote control
        Type: general
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      – TitleFull: Biomimetic robotic arm remotely controlled by IMU sensor for hazardous chemical experiment.
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            NameFull: Kim, Taegang
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            NameFull: Do, Geunho
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            NameFull: Kwon, Il-Jung
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            NameFull: Kim, Ji-Won
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              M: 03
              Text: Mar2026
              Type: published
              Y: 2026
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