This slides will give an introduction about gesture controlling of robots.

1. GESTURE CONTROL ROBOTS
24 September
2014
Guided By: Presented By:
Vibin C Thomas Jibin Poulose
Asst.Professor S7 EEE
ASIET No:-29
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Date of Presentaion : 27/08/2014

2. Contents
• Robot and Types
• Controlling Methods
• Gesture Control
• Transmitting
▫ Flex Sensor
▫ Accelerometer
▫ Robotic Hands
▫ Image Processing
• Receiving
• Comparison of different systems
• References

3. WHAT IS A ROBOT
ROBOT
24 September
2014
Electro-mechanical device
Performs Various tasks
May be human controlled or aut
It finds it’s uses in all aspects of our
life.
omated
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4. 24 September
2014
TYPES OF ROBOTS (BASED ON CONTROL)
ROBOTS
MANUAL
WIRED WIRELESS
SEMI-AUTONOMOUS
AUTONOMOUS
PRE-PROGRAMMED
SELF
LEARNING
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[Figure 1]

5. CONTROLLING OF ROBOTS
• Gestures
• Bluetooth enable devices
• Voice control
• Text
• Commands
24 September
2014
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6. 24 September
2014
WHY GESTURE CONTROL?
• Human Machine Interaction (HMI )[3]
• Interact naturally without any mechanical devices.
• Interface to both human and computer.
• Substitute the common interface devices
• Can also be exploited to extend their functionality.
• Avoid to program which required extensive hard work
• minimized the need for text interfaces and GUIs (Graphical
User Interface).
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7. WHAT IS A GESTURE
• Motion originate from face or hand
• An action seen by someone else
• Convey some piece of information.
• Movement of part of the body, especially a hand or the
head, to express an idea or meaning.
[Figure 2]
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2014
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8. TRANSMITTER SIDE
Transducer
Sensor
Signal
Conditioning
Micro Controller
Transmitter Encoder
Flex Action
Control Signals
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[Figure 3]

9. SENSORS AND SIGNAL CONDITIONING
• Physical movements cannot be processed and transmitted
• Sensors converts physical movements into electrical signals.
• Converts different gesture movements of hands into
corresponding electrical signals.
• Commonly used transducers are Flex sensors, Accelerometer
and Gyroscopes.
• They are placed in a glove and used to wear.
24 September
2014
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10. FLEX SENSORS
24 September
2014
• Analog resistors work as variable analog voltage divider.
• Carbon resistive elements with thin flexible substrate.
• More carbon means less resistance.
• Resistance increase with bending
• output a stream of data that varies with degree of bend
[Figure 4]
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11. VARIATION OF RESISTANCS
Voltage reduces with increase increase in
deflection of flex sensor [2]
Resistance increases with increase
increase in deflection of flex sensor [2]
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[Figure 5]
[Figure 6]

12. Vout=5Vx Rsensor
Rsensor+Rpullup
Hand glove with flex sensors in
each fingers
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[Figure 7]
[Figure 8]

13. ACCELEROMETER
24 September
2014
• Gives an analog data while moving in X,Y,Z direction
• Piezoelectric material sandwiched between base and resonant
mass
• Motion causes resonant mass to move
• Force to move mass is transmitted through piezoelectric
material (F = ma)
• Compression/Tension or Shear of piezoelectric material causes
charge buildup proportional to acceleration
• Equivalent electric circuit measures the capacitance
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14. 24 September
2014
ICP ACCELEROMETER
• To Make Accelerometer Use Simple, Incorporate Electronics
Package Into Transducer
• Equivalent Circuit => No Dependence on Cable
• Output Sensitivity Constant
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[Figure 9]

15. ROBOTIC HANDS
• Have five fingers each
having three joints
• Each joint requires each
sensors
• Readings from each sensor
is taken for signal
conditioning
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[Figure 10] [4]
[Figure 11] [4]

16. CONTROL OF ROBOTIC HAND
• I2c communication
• SDA ,SCl
• Unique ID number
• Pwm control of servo
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2014
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[Figure 12]

17. IMAGE PROCESSING
24 September
2014
• A Vision Based Gesture Recognition system
• Image: array, or a matrix, of square pixels (picture elements)
arranged in columns and rows.
• each picture element has an intensity ranges from 0 to 255 (for
8bit)
• Common steps : image scanning, storing, enhancing and
interpretation.
• image will be converted to digital form using a
scanner/digitizer and then process it.
• It is defined as the subjecting numerical representations of
objects to a series of operations
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18. 24 September
2014
DIFFERENT TYPES OF VISION BASED
GESTURE RECOGINATON [3]
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Mono Camera Based System
Multi Camera Based System
Infra red Camera Based System
[Figure 14]
[Figure 15
[Figure 13]

19. 24 September
2014
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• First Model the motion and posture and infer the gesture [3]
3D Textured volumetric model
3D wireframe volumetric model
3D Skeleton Model
Binary Silhouette
Contour
[Figure 16]

20. 24 September
2014
CONTROLLER AND TRANSMITTER
• Sensors outputs a stream of data that varies with degree of bend and
movement of hand.
• Analog voltage is given to controller.
• Mapped into digital values.
• Compare with the programmed values.
• Generate the corresponding signal of hand movement.
• Signal is transmitted to robot through RF Transmitter.
• Transmitter transmits the signal to robot.
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21. RECEIVER SIDE
Transducer
Reciver Decoder
Micro Controller
Motor Driver circuit
Signal
Movments
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Receiver receives the signal
Converts into electrical signal and give to controller
Controller process the signal and drives the motors corresponding to the signal.
[Figure 17]

22. COMPARISON
Methodologiess Advantages Disadvantages
Flex Sensor •Simple Programming
•Simple Construction
•Simple Calibration
Expensive
Accelerometer Simple Construction Expensive
Calibration is difficult
Image Processing Less Cost
Requires only a camera
Programming is very
difficult

23. REFERENCES
[1] Ruize Xu, Shengli Zhou, and Wen J. Li, Fellow, IEEE
“MEMS Accelerometer Based Nonspecific-User Hand Gesture Recognition”
[2]Abidhusain Syed, Zamrrud Taj H. Agasbal, Thimmannagouday Melligeri, Bheemesh Gudur
“Flex Sensor Based Robotic Arm Controller Using MicroController”
[3]Miss. Kawade Sonam P, Prof. V. S. Ubale
IOSR Journal of Electronics and Communication Engineering (IOSR-JECE) ISSN: 2278-
2834, ISBN: 2278-8735, PP: 19-26
[4] “Gesture Recognition-A Review”
Dr. Shantanu K. Dixit, Mr. Nitin S. Shingi
“Implementation of Flex sensor and Electronic Compass for Hand Gesture Based Wireless
Automation of Material Handling Robot”
[5] Umesh Yadav, Ankur Tripathi , Sonali Dubey ,S.K.Dubey
“Gesture Controll Robot”
24 September
2014
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24. Questions??