Medical Remotely Caring with Covid-19 Virus infected people using Optimized wireless arm tracing system

Mohammed Azher Therib, Heyam Marzog, Ahmed Fahem Al-Baghdadi


A robotic arm is a robot that usually programmable with similar functions to a human arm. Sensors are used to capture the motion of human limbs. It will always copy hand movement. The rapid spread of the Coronavirus (COVID-19) virus and contacting the infections make the number of patients doubled in short time. The system proposed in this research can protect clinicians against infection with virus by reducing the contact with the infected and treat them remotely. This type of system is useful in different other fields of defense and industrial works where delicate and dangerous task can be done from a distance without actually touching. Xbee shield is used to allow a hand glove flex sensors to communicate with the robotic arm wirelessly using Zigbee. It is based on the Xbee module from Max Stream which can communicate up to 100 feet indoors or 300 feet outdoors (with line-of-sight). PID controller used in the proposed system to achieve smooth movement of limbs. The desired signal comes from flex sensor that connected to each limb. Kalman estimator proposed to find current state of each limb. In order to get better performance, particle swarm optimization (PSO) is used.


Robotic Arm, COVID-19, Kalman Filter, PID Controller, PSO, Wireless


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