Sensoric system for controlling of robotic arm movement (MPU6050, flex sensor, LPC1769 + LPC11U24)

This is result of my diploma thesis, whose goal was to create sensoric system, that will allow user to control robotic arm. Results are displayed on computer in the form of 3D model.

Used hardware:

User module:
1x LPC1769 LPCXpresso board
4x MPU 6050 (ebay ones)
5x 4.5 flex sensor fom Spectra symbol (for each finger one)
1x HC-05 bluetooth modul

Drive module:
1x LPC11U14 LPCXpresso board with swapped MCU for LPC11U24
1x HC-05 bluetooth modul

Robotic arm module:
1x robotic arm with 6 axis of movement
1x PCA9685 chip for driving arm servos

Data transfer:
user - drive module: bluetooth
drive - arm module: I2C
drive - PC: USB as HID device

Computer technologies:
model was drawn in Blender
model is displayed in C++ MFC program with OpenGL view
model has custom created skeleton for keeping parts together
drive module is connected as HID device, so with low modifications, it can be used as (for example) mice

Alternative usage:
driving of any robotic device
as game controller