This document describes a gesture controlled robot that is controlled through hand movements detected by an accelerometer in a glove. The accelerometer outputs analog data related to hand movements which is transmitted via RF to the robot. The robot contains an Arduino, motor driver, receiver module and chassis. It will move forward, backward, left or right depending on the hand gesture detected such as tilting the hand front, back, left or right.

2. Introduction
A gesture controlled robot is controlled by using hand in place of any
other method like buttons or joystick. Here only needs to move hand to
control the robot. A transmitting device is used in your hand which
contains RF Transmitter and accelerometer. This will transmit command
to robot so that it can do the required task like moving forward, reverse,
turning left, turning right and stop. All these tasks will be performed by
using hand gesture.
Here the most important component is accelerometer. The output of this
device is Analog in nature and proportional to the acceleration. This
device measures the static acceleration of gravity when we tilt it. And
gives an result in form of motion or vibration.

3. nRF
Transmitte
r
Arduino
Nano
Accelerom
eter
Working Principle (Transmitter)

4. Motor
Driver
L298N
Arduino
Uno
nRF
Receiver
Working Principle (Receiver)

5. • Arduino Uno
• Robot Car Chassis
• nRF24L01 with Antenna
• L298N H-Bridge Motor Driver
• 9V Battery
• Jumper Wires
• Wire
• Veroboard
• Battery Connector
Components (Robot Car)

6. • Arduino Nano
• nRF24L01 with Antenna
• MPU6050 Gyro with
Accelerometer Sensor
• Glove
• Mini Breadboard
• 9V Battery
• Jumper Wires
• Battery Connector
Components (Glove)

7. PIN Diagram
L298N H-BRIDGE
MOTOR DRIVER
ARDUINO UNO

8. PIN Diagram
ARDUINO NANO

9. PIN Diagram
nRF24L01
MPU6050

10. Circuit Diagram (Transmitter)

11. Circuit Diagram (Receiver)
VCC

12. Program Flow Chart (Transmitter)
Start
Initialize Parameters and
Libraries
Read raw data sensed by
sensor
Convert raw data to
normalized data
Log the data to Arduino
Nano
Transmit Data

13. Program Flow Chart (Receiver)
Start
Received Data
Received Data == D0
Received Data == D1
Received Data == D2
Received Data == D3
Forward
Backward
Left
Right
Stop

14. Control Conditions
Movement
of
hand
Input for Arduino from gesture
Movement
Direction
Side D3 D2 D1 D0
Stable 0 0 0 0 Stop
Tilt front 0 0 0 1 Forward
Tilt back 0 0 1 0 Backward
Tilt right 0 1 0 0 Right
Tilt left 1 0 0 0 Left

16.  Libraries (GitHub):
o RF24 -- https://goo.gl/qCXZJg
o I2Cdev -- https://goo.gl/Ke1Wg1
o MPU6050 -- https://goo.gl/uHB7jX
 Download Source Code: http://bit.ly/2Qm8bsw
 www.google.com
References