WIRELESS GESTURE DRIVEN ROBOTIC ARM

(WGDRA)
INTRODUCTION
Human gestures have long been an important way of communication, adding emphasis to
voice messages or even being a complete message by itself. Such human gestures could be
used to improve human machine interface. These may be used to control a wide variety of
devices remotely. Vision-based framework can be developed to allow the users to interact
with computers through human gestures. This study focuses in understanding such human
gesture recognition, typically hand gesture.

Gesture recognition is an important area for novel human computer interaction (HCI) systems
and a lot of research has been focused on it. These systems differ in basic approaches
depending on the area in which it is used. Basically, the field of gestures can be separated
into dynamic gestures (e.g. writing letters or numbers) and static postures (e.g. sign-
language). The goal of gesture analysis and interpretation is to push the advanced human
machine communication in order to bring the performance of human-machine interaction
closer to human-human interaction.

Gesture recognition can be termed as an approach in this direction. It is the process by which
the gestures made by the user are recognized by the receiver. Gestures are expressive,
meaningful body motions involving physical movements of the fingers, hands, arms, head,
face, or body with the intent of:

conveying meaningful information or

Interacting with the environment.

They constitute one interesting small subspace of possible human motion. A gesture may also
be perceived by the environment as a compression technique for the information to be
transmitted elsewhere and subsequently reconstructed by the receiver.

Classification :-
A) hand and arm gestures:
Recognition of hand poses, sign languages, and entertainment applications.
B) head and face gestures:
Nodding or shaking of head; direction of eye gaze; etc.;
C) body gestures:
Involvement of full body motion, as in; tracking movements of two people
interacting outdoors; analyzing movements of a dancer for generating matching music
and graphics;





Benefits:
A human computer interface can be provided using gestures:
Pointing gestures
Interact with the 3D world
Replace mouse and keyboard
Pick up and manipulate virtual objects
Navigate in a virtual environment


DESCRIPTION :-

A. Architecture of recognition system
A basic gesture input device is the word processing tablet. In the system, two dimensional
hand gestures are sent via an input device to the computer's memory and appear on the
computer monitor. These symbolic gestures are identified as editing commands through
geometric modelling techniques. The commands are then executed, modifying the document
stored in computer memory. Gestures are represented by a view-based approach, and stored
patterns are matched to perceived gestures using dynamic time warping. View-based vision
approaches also permit a wide range of gestural inputs when compared to the mouse and
stylus input devices.

Hand and arm gesture
Hand gestures are the most expressive and the most frequently used gestures. This involves:

1) A posture
Static finger configuration without hand movement, and
2) A gesture
Dynamic hand movement with or without finger motion.





Gestures may be categorized as

Gesticulation:- spontaneous movement of hands and arms, accompanying speech. These
spontaneous movements constitute around 90% of human gestures. People gesticulate when
they are on telephone, and even blind people regularly gesture when speaking to one another;

Language like gestures: gesticulation integrated into a spoken utterance, replacing a
particular spoken word or phrase;

Pantomimes: gestures depicting objects or actions, with or without accompanying speech;

Emblems: familiar signs such as V for victory, or other culture-specific rude gestures;

Sign languages: well-defined linguistic systems. These carry the most semantic meaning and
are more systematic, thereby being easier to model in a virtual environment.


Representation of hand gesture

Representation of hand motion includes:
Global configuration: six DOF of a frame attached to the wrist, representing the pose of the
hand.
Local configuration: the angular DOF of fingers.



Block Diagram:-

Transmitter Section-















Receiver Section:-






Design Methodology:-

New intelligent algorithms could help robots to quickly recognize and respond to human
gestures. Researchers in past have created a computer program which recognises human
gestures quickly and accurately, and requires very little training.
Interface improvements more than anything else has triggered explosive growth in robotics.
It was quite common in light-pen based systems to include some gesture recognition

SOFTWARE DESIGN -

1) CAD Design.
2) Simulation on SIMULINK.


HARDWARE-




COMPONENT/ MODULES USED-

1.) Accelerometer:- An accelerometer is a device that measures proper acceleration,
also called the four-acceleration. For example, an accelerometer on a rocket
accelerating through space will measure the rate of change of the velocity of the
rocket relative to any inertial frame of reference. However, the proper
acceleration measured by an accelerometer is not necessarily the coordinate
acceleration (rate of change of velocity).
An accelerometer is an electromechanical device that will measure acceleration
forces. These forces may be static, like the constant force of gravity pulling at your
feet, or they could be dynamic caused by moving or vibrating the accelerometer.



2.) Microcontroller-


3.) HT12E Decoder

18 PIN DIP, Operating Voltage : 2.4V ~ 12.0V
Low Power and High Noise Immunity, CMOS Technology
Low Stand by Current, Ternary address setting
Capable of Decoding 12 bits of Information
8 ~ 12 Address Pins and 0 ~ 4 Data Pins
Received Data are checked 2 times, Built in Oscillator needs only 5% resistor
VT goes high during a valid transmission
Easy Interface with an RF of IR transmission medium
Minimal External Components

Transmitter:
For controlling robot we have used RF transmitting remote. For Rf transmission we have
used HT12E Decoder IC. The 212 encoders are a series of CMOS LSIs for remote control
system applications. They are capable of encoding information which consists of N address
bits and 12_N data bits. Each address/ data input can be set to one of the two logic states. The
programmed addresses/data are transmitted together with the header bits via an RF or an
infrared transmission medium upon receipt of a trigger signal. The capability to select a TE
trigger on the HT12E or a DATA trigger on the HT12A further enhances the application
flexibility of the 212 series of encoders. The HT12A additionally provides a 38kHz carrier
for infrared systems.

For the proper working of this local control section a permanent 5V back up needed
continuously. This is achieved by using a 230V to 12V transformer, Bridge rectifier,
capacitor filter and 5V regulated power supply from a voltage regulated IC 7805. This 5V
source is connected to all ICs and relays.

RF Receiver: For RF transmission purposed it is needed to encode the signal generated at
computer parallel port with the help visual basic code. For signal encoding purpose we have
used HT 12E encoder. HT^12 E is 2^12 encoders are a series of CMOS LSIs for remote
control system applications. They are capable of encoding information which consists of N
address bits and 12_N data bits. Each address/ data input can be set to one of the two logic
states. The programmed addresses/data are transmitted together with the header bits via an
RF transmission medium upon receipt of a trigger signal. The capability to select a TE trigger
on the HT12E enhances the application Flexibility of the 2^12 series of encoders.



Encoder
18 PIN DIP
Operating Voltage : 2.4V ~ 12V
Low Power and High Noise Immunity CMOS Technology
Low Standby Current and Minimum Transmission Word
Built-in Oscillator needs only 5% Resistor
Easy Interface with and RF or an Infrared transmission medium
Minimal External Components

DC motor driver:
The H-Bridge is used for motor driver. The H-Bridge is widely used in Robotics for driving
DC motor in both clockwise and anticlockwise.


Fig:- L293D Driver








Motor Driver Mechanism:-
It is an electronic circuit which enables a voltage to be applied across a load in either
direction.
It allows a circuit full control over a standard electric DC motor. That is, with an H-
bridge, a microcontroller, logic chip, or remote control can electronically command
the motor to go forward, reverse, brake, and coast.

H-bridges are available as integrated circuits, or can be built from discrete
components.

A double pole double throw relay can generally achieve the same electrical
functionality as an H-bridge, but an H-bridge would be preferable where a smaller
physical size is needed, high speed switching, low driving voltage, or where the
wearing out of mechanical parts is undesirable.
The term H-bridge is derived from the typical graphical representation of such a circuit,
which is built with four switches, either solid-state (e.g. L293/ L298) or mechanical (e.g.,
relays). The current provided by the MCU is of the order of 5mA and that required by a
motor is ~500mA. Hence, motor cant be controlled directly by MCU and we need an
interface between the MCU and the motor. A motor driver does not amplify the current; it
only acts as a switch.

RF Module :-



Application:-
1.) Vehicle Navigation
2.) Marine Navigation
3.) Base Service
4.) Auto Pilot
5.) Personal Navigation
6.) Travel Equipment
7.) Track equipment
8.) System & Mapping Application
9.) Medical Applications.




Future Scope:-
Wireless modules consume very low power and is best suited for wireless, battery
driven devices.
Advanced robotic arms that are designed like the human hand itself can easily
controlled using hand gestures only.
Proposed utility in fields of Construction, Hazardous waste disposal, Medical
science.
Combination of Heads Up display, Wired Gloves, Haptictactile sensors, Omni
directional Tread mills may produce a feel of physical places during simulated
environments.
VR simulation may prove to be crucial for Military, LAW enforcement and Medical
Surgeries.


References:-


[1] W.T. Freeman, C.D. Weissman, Television control by hand gesture, Proceedings of the
International Workshop on Automatic Face-and Gesture-Recognition, Zurich, Switzerland,
June 1995, pp. 179-183.

[2] J.S. Kim, C.S. Lee, K.J. Song, B. Min, Z. Bien, Real-time hand gesture recognition for
avatar motion control, Proceedings of HCI97, February 1997, pp. 96-101.

[3] T. Starner, A. Pentland,"Visual recognition of american sign language using hidden
Markov model", Proceedings of the International Workshop on Automatic Face-and Gesture-
Recognition, Zurich, Switzerland, June 1995, pp. 189-194.

[4] J. Yang, Y. Xu, C.S. Chen,"Human action learningvia hidden markov model", IEEE
Trans. Systems, Man, Cybernet. 27 (1), 1997, pp. 34-44.

[5] T.S. Huang, A. Pentland,"Hand gesture modeling, analysis, and synthesis", Proceedings
of the International Workshop on Automatic Face-and Gesture-Recognition, Zurich,
Switzerland, June 1995, pp. 73-79.
[6] Jakub Segan,"Controlling computer with gloveless gesture", In Virtual Reality
System93, 1993, pp. 2-6.
[7] E. Hunter, J. Schlenzig, R. Jain,"Posture estimation in reduced-model gesture input
systems, Proceedings of the International Workshop on Automatic Face-and Gesture-
Recognition, June 1995, pp. 290-295.
[8] M.J. Swain, D.H. Ballard,"Color indexing", International Journal of Computer Vision 7
(1), 1991, pp. 11-32.