HAND GESTURE CONTROLLED ROBOT USING

ACCELEROMETER

Dissertation submitted to the University of Madras in partial

fulfillment for the award of the degree

B.Sc. ELECTRONICS AND COMMUNICATION

SCIENCE

By
M.JAYAPRAKASH. (RegisterNo.221501098)
D. BAKTHAWATCHALA PERUMAL (RegisterNo.221501092)
S.MOHAN (RegisterNo.221501101)
J.AJEETH KUMAR (RegisterNo.221501091)

Under the Guidance of

Asst.prof.S.POOVIZHI, M.Sc., M.Phil.

DHARMAMURTHY RAO BAHADUR CALAVALA CUNNAN

CHETTY’S HINDU COLLEGE

MARCH 2018
 CERTIFICATE

This is to certify that the dissertation entitled

HAND GESTURE CONTROLLED ROBOT USING ACCELEROMETER is a
bonafide record of independent research work done By
M.JAYAPRAKASH, D.BAKTHAWATHALA PERUMAL, S.MOHAN, J.AJEETH
KUMAR under my supervision during 2017 to 2018 submitted to The
University of Madras in partial fulfillment for the award of the degree
of BSc ELECTRONICS AND COMMUNICATION SCIENCE and that The
dissertation has not previously formed the basis for the award of any
another Degree, diploma

SIGNATURE OF THE GUIDE

INTERNAL EXAMINER EXTERNAL EXAMINER

 DECLARATION

We M.JAYAPRAKASH, D.BAKTHAWATHALA PERUMAL, S.MOHAN,

J.AJEETH KUMAR, hereby declare that the dissertation entitled HAND
GESTURE CONTROLLED ROBOT USING ACCELEROMETER submitted to
The University of Madras in partial fulfillment for the award of the
degree of BSc ELECTRONICS AND COMMUNICATION SCIENCE and
that The dissertation has not previously formed the basis for the award of
any another Degree, diploma.

Place:

Date: Signature of the candidates

1:

2:

3:

4:
 ACKNOWLEDGEMENT

I extend my sincere thanks to the Management, the Secretary, the Principal,

the Director and the Coordinator for their support. I render my sincere
thanks to our HOD and project guide Asst prof. S.POOVIZHI, M.Sc., M.Phil.,
for rendering me a kind and caring help, without whom the project would
not have seen the light. I also extend my sincere thanks to our Faculty
members and Lab Assistant of Department of Electronics and
Communication Science for their additional support. I acknowledge the
excellent cooperation that I have received from my parents and all my
friends and all sides in course of my project.

M.JAYAPRAKASH

D.BAKTHAWATHALA PERUMAL

S.MOHAN

J.AJEETH KUMAR
 ABSTRACT

Gesture Controlled Robot is a robot which can be controlled by Simple

gestures. The user just needs to wear a gesture device which includes a
sensor. The sensor will record the movement of hand in a special direction
which will result in the movement of the robot in the respective direction.
The robot and the Gesture device are connected wirelessly via radio waves.
The wireless communication enables the user to interact with the robot in
a more friendly way.

02
 CONTENTS
CHAPTER 1: ACKNOWLEDGEMENT……………………………………….. 1

CHAPTER 2: ABSTRACT……………………………………………………… 2

CHAPTER 3: INTRODUCTION………………………………………………….5

3.1 Robot……………………………………………………………………………5

3.2 Human Machine Interaction………………...………………………………..6

..
3.3 Gesture ………………………………….……………………………………. 6

3.4 Motivation For the Project……………….…………………………………... 6

3.5 Objective of the Project . . . . . . . . … .... . . . . …………………………….. 6

CHAPTER 4: GESTURE CONTROLLED ROBOT…………………………… 7

4.1 Gesture Controlled Robot . . . . . . . . . . . . . . ……………………………….7

4.2 Application . . . . . . . . . . . . . . . . . . . . . …………………………………….. 8

CHAPTER 5: LITERATURE REVIEW…………………………………………. 9

5.1 Transmitter . . . . . . . . . . . . . . . . . . . . . …………………………………… 11

5.1.1 Arduino . . . . . . . . . . . . . . . . . . . ………………………………………….11

5.1.2 Accelerometer (ADXL335) . . . . . . . . . …………………………………..15

5.1.4 Encoder IC (HT12D) . . . . . . . . . . . . …………………………………….19

5.1.5 RF Module (Rx/Tx) . . . . . . . . . . . ………………………………………. 21

5.2 Receiver . . . . . . . . . . . . . . . . . . . . . . . …………………………………….23

5.2.1 Decoder IC (HT12D) . . . . . . . . . . . . …………………………………… 23

5.2.2 Motor Driver IC (L293D) . . . . . . . . . ……………………………………. 25

5.2.3 DC Motors . . . . . . . . . . . . . . . . . ………………………………………... 26

5.2.4 Wheels . . . . . . . . . . . . . . . . . . . . ……………………………………… 28

5.2.5 Chassis . . . . . . . . . . . . . . . . . . . ………………………………………… 29

CHAPTER 6: IMPLEMENTATION

6.1 System Description . . . . . . . . . . . . . . . . . ………………………………. 33

6.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . ………………………………….34

6.3 Gesture Control . . . . . . . . . . . . . . . . . . . ………………………………... 35

6.3.1 Gesture Recognition . . . . . . . . . . . . ………………………………….. .35

6.3.2 Movement of Motors and Wheels . . . . . ……………………………… .35

6.3.3 Design and Working: . . . . . . . . . . . . ………………………………... …38

6.4 Used Code for Arduino . . . . . . . . . . . . . . . ……………………………. 40

CHAPTER 7: CONCLUSION, LIMITATIONS AND FUTUREWORK …… 43

7.1 Conclusion . . . . . . . . . . . . . . . . . . . . . …………………………………. 43

7.2 Limitations and Future Work . . . . . . . . . . . ……………………………. 43

CHAPTER 8: FEASIBILITY OF THE PROJECT………………………….. 44

8.1 Software . . . . . . . . . . . . . . . . . . . . . . . . ………………………………… 44

8.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . …………………………………. 44

8.3 Economic . . . . . . . . . . . . . . . . . . . . . . ……………………………………45

9 REFERENCES

04
 Chapter 3

INTRODUCTION

Recently, strong efforts have been carried out to develop intelligent

and natural interfaces between users and computer based systems based
on human gestures. Gestures provide an intuitive interface to both
human and computer. Thus, such gesture-based interfaces can not only
substitute the common interface devices, but can also be exploited to
extend their functionality. The goal of gesture recognition in Computer
Science has always been the minimization of the distance between the
physical world and the digital world. Numerous algorithms have been
proposed to achieve the goal of gesture recognition and its use in
communicating with the digital World. Gestures can be tracked using
accelerometers. This paper deals with the design and implementation of
a wireless gesture controlled Robot using Arduino processor and cheap
hardware requirements.

3.1 Robot
A robot is usually an electro-mechanical machine that can perform
tasks automatically. Some robots require some degree of guidance, which
may be done using a remote control or with a computer interface. Robots
can be autonomous, semi-autonomous or remotely controlled. Robots
have evolved so much and are capable of mimicking humans that they
seem to have a mind of their own.

05
3.2 Human Machine Interaction

An important aspect of a successful robotic system is the Human

Machine interaction. In the early years the only way to communicate with
a robot was to program which required extensive hard work. With the
development in science and robotics, gesture based recognition came into
life. Gestures originate from any bodily motion or state but commonly
originate from the face or hand. Gesture recognition can be considered as
a way for computer to understand human body language. This has
minimized the need for text interfaces and GUIs (Graphical User Interface).

3.3 Gesture

A gesture is an action that has to be seen by someone else and has

to convey some piece of information. Gesture is usually considered as a
movement of part of the body, esp. a hand or the head, to express an idea
or meaning.

3.4 Motivation for the Project

Our motivation to work on this project came from a disabled person

who was driving his wheel chair by hand with quite a lot of difficulty. So we
wanted to make a device which would help such people drive their chairs
without even having the need to touch the wheels of their chairs.

3.5 Objective of the Project

Our objective is to make this device simple as well as cheap so that it
could be mass produced and can be used for a number of purposes.

Chapter 4
 GESTURE CONTROLLED ROBOT

4.1 Gesture Controlled Robot

Gesture recognition technologies are much younger in the world of

today. At this time there is much active research in the field and little in the
way of publicly available implementations. Several approaches have been
developed for sensing gestures and controlling robots. Glove based
technique is a well-known means of recognizing hand gestures. It utilizes
a sensor attached to a glove that directly measures hand movements. A
Gesture Controlled robot is a kind of robot which can be controlled by
hand gestures and not the old fashioned way by using buttons. The user
just needs to wear a small transmitting device on his hand which includes
a sensor which is an accelerometer in our case. Movement of the hand in
a special direction will transmit a command to the robot which will then
move in a special direction. The transmitting device includes a Comparator
IC for assigning proper levels to the input voltages from the accelerometer
and an Encoder IC which is used to encode the four bit data and then it
will be transmitted by an RF transmitter module.

At the receiving end an RF Receiver module will receive the encoded

data and decode it by using a decoder IC. This data is then processed by
a microcontroller and passed onto a motor driver to rotate the motors in
a special configuration to make the robot move in the same direction as
that of the hand.
07

4.2 Application
 Through the use of gesture recognition, remote control with the
wave of a hand of various devices is possible.

 Gesture controlling is very helpful for handicapped and physically

disabled people to achieve certain tasks, such as driving a vehicle.

 Gestures can be used to control interactions for entertainment

purposes such as gaming to make the game player's experience
more interactive or immersive.

08

Chapter 5
LITERATURE REVIEW

Gesture controlled robot works on the principle of accelerometer which

records hand movements and sends that data to the comparator which
assigns proper voltage levels to the recorded movements. That information
is then transferred to an encoder which makes it ready for RF transmission.
On the receiving end, the information is received wirelessly via RF, decoded
and then passed onto the microcontroller which takes various decisions
based on the received information. These decisions are passed to the
motor driver ic which triggers the motors in different configurations to
make the robot move in a specific direction. The following block diagram
helps to understand the working of the robot: We have divided our task
into two parts to make the task easy and simple and to avoid complexity
and make it error free. The first is the transmitting section which includes
the following components:
 Arduino
 Accelerometer
 Comparator IC
 Encoder IC
 RF Transmitter
The second is the receiving end which comprises of following main
Components:
 RF Receiver Module
 Decoder IC

09
Figure 5.1: Block Diagram of Robot

10
 Encoder Decoder Connection

5.1 Transmitter

5.1.1 Arduino

Arduino is an open source, computer hardware and software

company, project, and user community that designs and manufactures
Single board microcontrollers and microcontroller kits for building digital
devices and interactive objects that can sense and control objects in the
physical world. Arduino board designs use a variety of microprocessors
and controllers. The boards are equipped with sets of digital and analog
input/output (I/O) pins that may be interfaced to various expansion boards
(shields) and other circuits. The boards feature serial communications
interfaces, including Universal Serial Bus (USB) on some models, which are
also used for loading programs from personal computers. The
microcontrollers are typically programmed using a dialect of features from
the programming languages C and C++. In addition to using traditional
compiler tool chains, the Arduino project provides an integrated
development environment (IDE) based on the Processing language project.
Most Arduino boards consist of an Atmel 8-bit AVR microcontroller
(ATmega8, ATmega168, ATmega328, ATmega1280, ATmega2560) with
varying amounts of ash memory, pins, and features. The boards use single
or double-row pins or female headers that facilitate connections for
programming and incorporation into other circuits. These may connect
with add-on modules termed shields. Multiple, and possibly stacked shields
may be individually addressable via an IC serial bus. Most boards include a
5 V linear regulator and a 16 MHz crystal oscillator or ceramic resonator.
Some designs, such as the Lily Pad, run at 8 MHz and dispense
with the onboard voltage regulator due to specific form factor
restrictions.
Here is the Pin Diagram of Arduino Atmega328:

Figure 5.2: Pin diagram Atmega328

Pin Descriptions:

VCC: Digital supply voltage

GND: Ground
 12
Port B (PB7): Port B is an 8-bit bi-directional I/O port with internal
pull-up resistors (selected for each bit). The Port B output buffers have
symmetrical drive characteristics with both high sink and source
capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated
when a reset condition becomes active, even if the clock is not running.
Depending on the clock selection fuse settings, PB7 can be used as
output from the inverting Oscillator amplifier.
PB6: Depending on the clock selection fuse settings, PB6 can be
Used as input to the inverting Oscillator amplifier and input to the
Internal clock operating circuit.

Port C (PC5): Port C is a 7-bit bi-directional I/O port with internal pull-
up resistors (selected for each bit). The output buffers have symmetrical
drive characteristics with both high sink and source capability. As inputs,
Port C pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port C pins are tri-stated when a reset condition
becomes active, even if the clock is not running.
PC6:PC6 is used as an I/O pin. Note that the electrical characteristics of PC6
differ from those of the other pins of Port C.; PC6 is used as a Reset input.
A low level on this pin for longer than the minimum pulse length will
generate a Reset, even if the clock is not running.
Port D (PD7): Port D is an 8-bit bi-directional I/O port with internal pull-up
resistors (selected for each bit). The Port D output buffers have symmetrical
drive characteristics with both high sink and source capability. As inputs,
Port D pins that are externally pulled low will source current if the pull-up
resistors are activated. The Port D pins are tri-stated when a reset condition
becomes active, even if the clock is not running.
A Vcc: A Vcc is the supply voltage pin for the A/D Converter. It should
be externally connected to VCC, even if the ADC is not used. If the ADC is
used, it should be connected to VCC through a low-pass filter. Note that
PC6...4 use digital supply voltage. AREF: AREF is the analog reference pin
for the A/D Converter.

Functions:
Digital I/O There are basically three functions used in digital I/O.
Pin Mode (): Configures the specified pin to behave either as an Input or
an output. Digital Write (): Write a high or a low value to a digital pin.
If the pin is configured as an input, writing a high value with digital Write
() will enable an internal 20K pull-up resistor.

Figure 5.3: Block diagram of Arduino

Writing low will disable the pull-up. The pull-up resistor is enough to
light an led dimly, so if LEDs appear to work, but very dimly, this is a likely
cause. The remedy is to set the pin to an output with the pin Mode
() function. 14
Digital Read (): Reads the value from a specified digital pin, either
High or low.
Analog I/O: In analog i/o there are also three functions to take input from
accelerometer which are Analog Reference (): Configures the reference
voltage used for analog input (i.e. the value used as the top of the input
range).
The options are:
Default: The default analog reference of 5 volts (on 5V Arduino boards) or
3.3 volts (on 3.3V Arduino boards)
Internal: A built-in reference, equal to 1.1 volts on the ATmega168
Or ATmega328 and 2.56 volts on theATmega8 (not available on the
Arduino Mega)
Internal 1V1: A built-in 1.1V reference (Arduino Mega only)
Internal 2V56: A built-in 2.56V reference (Arduino Mega only)
External: The voltage applied to the AREF pin (0 to 5V only) is
used as the reference.

5.1.2 Accelerometer (ADXL335)

An accelerometer is a device that measures proper acceleration, also

called the four-acceleration. However, the proper acceleration measured
by an accelerometer is not necessarily the coordinate acceleration (rate of
change of velocity). Instead, it is the acceleration associated with the
phenomenon of weight experienced by any test mass at rest in the frame
of reference of the accelerometer device. Single- and multi-axis models of
accelerometer are available to detect magnitude and direction of the
proper acceleration as a vector quantity, and can be used to sense
orientation (because direction of weight changes), coordinate vibration,
shock, and falling (a case where the proper acceleration changes, since it
tends toward zero). Pairs of accelerometers extended over a region of
space can be used to detect differences (gradients) in the proper
accelerations of frames associated with those points.

ADXL335 Accelerometer:

The ADXL335 is a small, thin, low power, complete 3-axis

accelerometer with signal conditioned voltage outputs. The product
measures acceleration with a minimum full-scale range of 3 g. It can
measure the static acceleration of gravity in tilt-sensing applications, as
well as dynamic acceleration resulting from motion, shock or vibration.
The user selects the bandwidth of the accelerometer using the CX, CY, and
CZ capacitors at the XOUT, YOUT, and ZOUT pins. Bandwidths can be
selected to suit the application, with a range of 0.5 Hz to 1600 Hz for the X
and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis. It contains a
poly silicon surface-micro machined sensor and signal conditioning
circuitry to implement open-loop acceleration measurement architecture.
The output signals are analog voltages that are proportional to
acceleration. The accelerometer can measure the static acceleration of
gravity in tilt-sensing applications as well as dynamic acceleration resulting
from motion, shock, or vibration. The sensor is a polysilicon surface-micro
machined structure built on top of a silicon wafer. Polysilicon springs
suspend the structure over the surface of the wafer and provide a
resistance against acceleration forces. Detection of the structure is
measured using a differential capacitor that consists of independent fixed
plates and plates attached to the moving mass. The fixed plates are driven
by 180 out-of-phase square waves. Acceleration deflects the moving mass
and unbalances the differential capacitor resulting in a sensor output
whose amplitude is proportional to acceleration. Phase-sensitive
demodulation techniques are then used to determine the magnitude and
direction of the acceleration.

The demodulator output is amplified and brought on chip through a

32 k resistor. The user then sets the signal bandwidth of the device by
adding a capacitor. This filtering improves measurement resolution and
helps prevent aliasing.

Figure 5.4: Block diagram of ADXL335

Pin description:

Figure 5.5: Description of ADXL335

 Figure 5.6: Pin diagram of ADXL335
18

5.1.4 Encoder IC (HT12E)

The HT12E encoder is designed for remote control system

applications. It will interface to RF transmitter modules to create a secure
single or multiple channel RF remote control transmitters. The oscillator is
configured simply with the addition of a resistor. It is 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. HT12E is
an encoder integrated circuit of 212 series of encoders. They are paired
with 212 series of decoders for use in remote control system applications.
It encodes the 12 bit parallel data into serial for transmission through an RF
transmitter. These 12 bits are divided into 8 address bits and 4 data bits.
 HT12E has a transmission enable pin which is active low. When a
trigger signal is received on TE pin, the programmed addresses/data are
transmitted together with the header bits via an RF or an infrared
transmission medium. HT12E begins a 4-word transmission cycle upon
receipt of a transmission enable. This cycle is repeated as long as TE is kept
low. As soon as TE returns to high, the encoder output completes its final
cycle and then stops.

Pin Diagram of RF-Encoder:

Pin Description

5.1.5 RF Module (Rx/TX)

Radio frequency (RF) is a rate of oscillation in the range of about 3

KHz to 300 GHz, which corresponds to the frequency of radio waves, and
the alternating currents which carry radio signals. Although radio frequency
is a rate of oscillation, 21
The term "radiofrequency" or its abbreviation "RF" are also used as a
synonym for radio i.e. to describe the use of wireless communication, as
Opposed to communication via electric wires/ The RF module is working
on the frequency of 433 MHz and has a range of 50-80 meters.

Figure 5.8: RF Transmitter

Figure 5.9: Pin Description of RF Transmitter

 Pin Description of RF Receiver:

5.2 Receiver

5.2.1 Decoder IC (HT12D)

HT12D is a decoder integrated circuit that belongs to 212 series of

decoders. They are paired with 212 series of encoders. The chosen pair of
encoder/decoder should have same number of addresses and data format.
In simple terms, HT12D converts the serial input into parallel outputs. It
decodes the serial addresses and data received by, say, an RF receiver, into
parallel data and sends them to output data pins. The serial input data is
compared with the local addresses three times continuously.
5.2.2 Motor Driver IC (L293D)

It is also known as H-Bridge or Actuator IC. Actuators are those

devices which actually gives the movement to do a task like that of a motor.
In the real world there are different types of motors available which work
on different voltages. So we need a motor driver for running them through
the controller. The output from the microcontroller is a low current signal.
The motor driver amplifies that current which can control and drive a
motor. In most cases, a transistor can act as a switch and perform this task
which drives the motor in a single direction. Figure 3-10 L293D IC Turning
a motor ON and OFF requires only one switch to control a single motor in
a single direction. We can reverse the direction of the motor by simply
reversing its polarity. This can be achieved by using four switches that are
arranged in an intelligent manner such that the circuit not only drives the
motor, but also controls its direction. Out of many, one of the most
common and clever design is a H-bridge circuit where transistors are
arranged in a shape that resembles the English alphabet "H".

Figure 5.10: H Bridge

H-Bridge As seen in the image, the circuit has four switches A, B, C and D.
Turning these witches ON and OFF can drive a motor in different ways.
 When switches A and D are on, motor rotates clockwise.
 When B and C are on, the motor rotates anti-clockwise.
 When A and B are on, the motor will stop.
 Turning OF all the switches gives the motor a free wheel drive.
 Turning ON A and C at the same time or B and D at the same time
shorts the entire circuit.
So, never try to do it.

5.2.3 DC Motors

A machine that converts DC power into mechanical power is known

as a DC motor. Its operation is based on the principle that when a current
carrying conductor is placed in a magnetic field, the conductor experiences
a mechanical force. DC motors have a revolving armature winding but non-
revolving armature magnetic field and a stationary field winding or
permanent magnet. Different connections of the field and armature
winding provide different speed/torque regulation features. The speed of
a DC motor can be controlled by changing the voltage applied to the
armature or by changing the field current.
 Figure 5.11: DC Motor

DC Gear Motor

A geared DC Motor has a gear assembly devoted to the motor. The

speed of motor is counted in terms of rotations of the shaft per minute
and is termed as RPM .The gear assembly helps in increasing the torque
and dropping the speed. Using the correct arrangement of gears in a gear
motor, its speed can be reduced to any required figure. This concept of
reducing the speed with the help of gears and increasing the torque is
known as gear reduction. Reducing the speed put out by the motor while
increasing the quantity of applied torque is an important feature of the
reduction gear trains found in a gear motor. The decrease in speed is
inversely relative to the increase in torque. This association means that, in
this sort of device, if the torque were to double, the speed would decrease
by one half. Small electric motors, such as the gear motor, are able to move
and stand very heavy loads because of these reduction gear trains. While
the speed and ability of larger motors is greater, small electric motors are
sufficient to bear these loads.
5.2.4 Wheels

Wheeled robots are robots that navigate around the ground using
motorized wheels to propel them. This design is simpler than using treads
or legs and by using wheels they are easier to design, build, and program
for movement in at, not-so-rugged terrain. They are also better controlled
than other types of robots. Disadvantages of wheeled robots are that they
cannot navigate well over obstacles, such as rocky terrain, sharp declines,
or areas with low friction. Wheeled robots are most popular among the
consumer market; their differential steering provides low cost and
simplicity. Robots can have any number of wheels, but three wheels are
sufficient for static and dynamic balance. Additional wheels can add to
balance; however, additional mechanisms will be required to keep all the
wheels in the ground, when the terrain is not at. Large diameter wheels
give the robot low torque but high velocity.
Types of wheels:
 2 wheeled robot
 3 wheeled robot
 4 wheeled robot
 5 or more wheeled robot
Here in the project, we use 3-Wheeled robot.
3-Wheeled robot:
3-wheeled robots may be of two types: differentially steered (2 powered
wheels with an additional free rotating wheel to keep the body in balance)
or 2 wheels powered by a single source and a powered steering for the
third wheel. In the case of differentially steered wheels, the robot direction
may be changed by varying the relative rate of rotation of the two
separately driven wheels. If both the wheels are driven in the same
direction and speed, the robot will go straight. Otherwise, depending on
the speed of rotation and its direction, the center of rotation may fall
anywhere in the line joining the two wheels?
The center of gravity in this type of robot has to lay inside the triangle
formed by the wheels. If too heavy of a mass is mounted to the side of the
free rotating wheel, the robot will tip over.

5.2.5 Chassis

A chassis consists of an internal framework that supports a

manmade object. It is analogous to an animal's skeleton. An example of a
chassis is the under part of a motor vehicle, consisting of the frame (on
which the body is mounted) with the wheels and machinery. The chassis
is used to maintain the bot made of aluminum sheet and the rf. receiver
is mounted on it to receive the signal.
 Chapter 6

IMPLEMENTATION

The accelerometer records the hand movements in the X and Y

directions only and outputs constant analog voltage levels. These
voltages are fed to the comparator IC which compares it with the
references voltages that we have set via variable resistors attached to the
IC. The levels that we have set are 1.7V and 1.4V. Every voltage generated
by the accelerometer is given to the Arduino, This analog signal is the
input to the encoder IC. The input to the encoder is parallel while the
output is a serial coded waveform which is suitable for RF transmission. A
push button is attached to pin 14 of this IC which is the Transmission
Enable (TE) pin. The coded data will be passed onto the RF module only
when the button is pressed. This button makes sure no data is
transmitted unless we want to. The RF transmitter modulates the input
signal using Amplitude Shift Keying (ASK) modulation. It is the form of
modulation that represents digital data as variations in the amplitude of a
carrier wave.

The following figure shows the modulated output of the RF module:

30
The RF modules works on the frequency of 433MHz. It means that the
carrier frequency of the RF module is 433MHz. The RF module enables
the user to control the robot wirelessly and with ease. The schematic of
transmitting end can be seen below:

31
 This transmitted signal is received by the RF receiver, demodulated
and then passed onto the decoder IC. The decoder IC decodes the coded
waveform and the original data bits are recovered. The input is a serial
coded modulated waveform while the output is parallel. The pin 17 of the
decoder IC is the Valid Transmission (VT) pin. A led can be connected to
this pin which will indicate the status of the transmission. In the case of a
successful transmission, the led will blink. The parallel data from the
encoder is fed to the port 1of the microcontroller. This data is in the form
of bits. The microcontroller reads these bits and takes decisions on the
basis of these bits. What the microcontroller does is, it compares the input
bits with the coded bits which are burnt into the program memory of the
microcontroller and outputs on the basis of these bits. Port 2 of the
Microcontroller is used as the output port. Output bits from this port are
forwarded to the motor driver IC which drives the motors in a special
configuration based on the hand movements. At a dead stop, a motor
produces no voltage. If a voltage is applied and the motor begins to spin,
it will act as a generator that will produce a voltage that opposes the
external voltage applied to it. This is called Counter Electromotive Force
(CEF) or Back Electromotive Force (Back EMF). If a load stops the motors
from moving then the current may be high enough to burn out the motor
coil windings. To prevent this, fly back diodes are used. They prevent the
back emf from increasing and damaging the motors. The schematic of
receiving end can be seen below:

32
6.1 System Description

The steps stated above are broadly described in this section. The
system consists of the following steps to work as mentioned:
1. Transmission of data:
The input is given by the accelerometer that has been analog in the
nature. It has been digitally coded by the input A/D converter. The A/D
converter is in built in the Arduino board that is of 8 bit and output goes
to the digital pins of the Arduino board.
2. Receiving the data
The receiving data on the digital pins is sent to the L293D.
According to the output the motors it will run in forward, backward,left
and right. The output depends directly on to the accelerometer input that
can be used for the robot controlling and accelerometer input depends
upon the movement of the gestures.

33
 Figure 6.1: Transmission of Data

Figure 6.2: Receive Data

6.2 Simulation

We performed a simulation of our project in ARDUINO and the code

was written in Arduino Programing Language using Arduino Software. We
wrote a code for the microcontroller to run DC motors using the H-Bridge
IC (L293D).
34
 In the simulation we sent the relevant data to the Microcontroller
(ATMega328) through switches. The Microcontroller processed the data
and sent the information to the Actuator IC (L293D). The Actuator IC upon
receiving information showed response by driving the DC motors.
The simulation schematic is as follow:

6.3 Gesture Control

6.3.1 Gesture Recognition

As the user moves his hand, the accelerometer reading changes. It
is then retrieved by the application. There are two values: One is
maximum value and the other is minimum value. The range is specified
using these two values for each function of the robot. If the value
retrieved by the application lies between these specified values, then the
corresponding determinant is generated. This determinant is sent to the
microcontroller, which then receives the determinant value, process it to
recognize the corresponding gesture, and sends signals to move the
robot accordingly.

35
 Figure 6.3: Gestures for movement of the robot

Figure shows the gestures to control the movement of the robot.

When the user tilts his hand forward, the gesture is recognized as the
forward movement, and the robot moves in the forward direction. The
angle of the tilt or the difference between the angle of tilt of users hand
and the threshold value of forward movement gesture determines the
speed of the robot. When the user tilts his hand on the right direction,
the gesture is recognized as the right turn, and the robot moves in the
right direction. When the user tilts his hand in the left direction, the
gesture is recognized as the left turn, and the robot moves in the right
direction. The angle of the tilt of users hand determines whether the left
or right turn is a normal turn or a sharp turn. A sharp turn is one in which
a car changes direction without slowing down before turning. When the
user tilts his hand backwards, the gesture is recognized as the move
backward gesture, and the robot moves in the backward direction. If the
users hand is somewhere between the two gestures,
36
 i.e., the accelerometer value is somewhere between the threshold of
two directions (forward and left turn, left turn and backwards, backwards
and right turn, forward and right turn), then the robot moves in that
diagonal direction.

6.3.2 Movement of Motors and Wheels

There are two DC motors used in the design of this robot: one motor
for each wheel. The functions are called from the program burnt in the
Arduino microcontroller. The signal is sent to the motor driver IC that runs
the motors. The wheels are connected to the motors. 2 DC motors are used
Two for left and right wheels. When the signal received in the motor driver
is to move forward, all two wheels of motors rotate forward, this turns all
the two wheels in the forward direction. The robot moves in the forward
direction. When the signal received in the motor driver is to turn the robot
in the forward left direction, the left diagonal motors are rotated backwards
while the right diagonal motors are made rotated forwards. This makes the
robot turn in the forward left direction. When the signal received in the
motor driver is to turn the robot in the forward right direction, the right
diagonal motors are rotated backward while the left diagonal motors are
rotated forwards. This makes the robot turn in the forward right direction.
When the signal in the motor driver is to move backward, both the pairs of
the motors are rotated backwards resulting the robot to move backwards.
When the signal in the motor driver is to stop the robot, all the motors are
made stationary resulting the robot to stop. Similarly, to rotate the robot
in backward directions, similar method- ology is used. To turn the robot in
the backward left direction, the left diagonal motors are rotated forwards
while the right diagonal 37
 motors are rotated backwards. This makes the robot turn in the
backward left direction. To turn the robot in the backward right direction,
the right diagonal motors are rotated forwards while the left diagonal
motors are rotated backwards. This makes the robot turn in the backward
right direction.

Figure 6.4: Movement of motors and wheels

6.3.3 Design and Working:

The transmitter prototype is kept on the palm and the receiver

prototype (i.e. robot) moves according to the palm movement. This paper
explains about the 5 different gesture position of the hand i.e. stop
condition, forward movement, backward movement, moves towards right
and moves towards left.
Stop Condition:
When the accelerometer is parallel to the horizontal plane, all the output
pins of decoder (13, 12, 11, and 10) are set to high which makes the robot in
stop mode. Led are connected to the decoder output Pins. Since all the
output pins are high, so all the led are glowing.
38
 Forward Movement: When the accelerometer is tilted to forward,
two output pin of decoder (13, 11) are set to low and other two output pin
of decoder (12, 10) are set to high. This condition commands the robot to
move in forward direction. Led connected to pin 13 and 11 are not
glowing as it is low and led connected to pin 10 and 12 are glowing Since,
it is high.
Backward Movement: When the accelerometer is tilted towards backward
direction, two output pin of decoder (12, 10) are set to low and other two
output pin of decoder (13, 11) are set to high. This condition commands the
robot to move in backward direction. Led connected to pin 13 and 11 are
glowing as it is high and led connected to pin 10 and 12 are not glowing
since, it is low.
Moves towards Right:
When the accelerometer is tilted towards right, two output pin of decoder
(12, 11) are set to low and other two output pin of decoder (13, 10) are set
to high. This condition commands the robot to move towards right. The
output can be seen in the above picture. Led connected to pin 13 and 10
are glowing as it is high and led connected to pin 11 and 12 are not glowing
since, it is low.
Moves towards Left:
When the accelerometer is tilted towards left, two output pin of decoder
(12, 11) are set to high and other two output pin of decoder
(13, 10) are set to low. This condition commands the robot to move towards
left. Led connected to pin 13 and 10 are not glowing as it is low and led
connected to pin 11 and 12 are glowing since, it is high.

39
6.4 Used Code for Arduino

* This program lets you to control your robot with gesture made by your
hand
*/
int GNDPin=A1; //Set Analog pin 4 as GND
int VccPin=A5; //Set Analog pin 5 as VCC
int xPin=A4; //X axis input
int yPin=A3; //Y axis input
int zPin=A2; //Z axis input(not used)
int Q1=10,Q2=11,Q3=12,Q4=13; //Output pins to be connected to 10, 11,
12, 13 of Decoder IC
long x; //Variabe for storing X coordinates
long y; //Variabe for storing Y coordinates
long z; //Variabe for storing Z coordinates
void setup()
{
Serial.begin(9600);
pinMode(Q1,OUTPUT);
pinMode(Q2,OUTPUT);
pinMode(Q3,OUTPUT);
pinMode(Q4,OUTPUT);
pinMode(GNDPin, OUTPUT);
pinMode(VccPin, OUTPUT);
digitalWrite(GNDPin, LOW); //Set A4 pin LOW
digitalWrite(VccPin, HIGH); //Set A5 pin HIGH
}
void loop()
{
x = analogRead(xPin); //Reads X coordinates
y = analogRead(yPin); //Reads Y coordinates
z = analogRead(zPin); //Reads Z coordinates (Not Used)
if(x<300) // Change the value for adjusting sensitivity
left();
else if(x>350) // Change the value for adjusting sensitivity
40
right();
else if(y>350) // Change the value for adjusting sensitivity
backward();
else if(y<300) // Change the value for adjusting sensitivity
forward
();
else
stop_();
}
void stop_()
{
Serial.println("");
Serial.println("STOP");
digitalWrite(Q1,LOW);
digitalWrite(Q2,LOW);
digitalWrite(Q3,LOW);
digitalWrite(Q4,LOW);
}
void forward()
{
Serial.println("");
Serial.println("Forward");
digitalWrite(Q1,LOW);
digitalWrite(Q2,HIGH);
digitalWrite(Q3,LOW);
digitalWrite(Q4,HIGH);
}
void backward()
{
Serial.println("");
Serial.println("Backward");
digitalWrite(Q1,HIGH);
digitalWrite(Q2,LOW);
digitalWrite(Q3,HIGH);
digitalWrite(Q4,LOW);
} 41
void left()
{
Serial.println("");
Serial.println("Left");
digitalWrite(Q1,LOW);
digitalWrite(Q2,HIGH);
digitalWrite(Q3,HIGH);
digitalWrite(Q4,LOW);
}
void right()
{
 Serial.println("");
Serial.println("Right");
digitalWrite(Q1,HIGH);
digitalWrite(Q2,LOW);
digitalWrite(Q3,LOW);
digitalWrite(Q4,HIGH);
}

42
 Chapter 7

CONCLUSION, LIMITATIONS
AND
FUTURE WORK

7.1 Conclusion

We have gone through several hurdles and at the end we are able to
complete the project work. The project finally ran as our expectation
was. It showed all the proper movements.

7.2 Limitations and Future Work

The on-board batteries occupy a lot of space and are also quite
heavy. We can either use some alternate power source for the batteries or
replace the current DC Motors with ones which require less power.
Secondly, as we are using RF for wireless transmission, the range is quite
limited; nearly 50-80m. This problem can be solved by utilizing a GSM
module for wireless transmission. The GSM infrastructure is installed almost
all over the world.
GSM will not only provide wireless connectivity but also quite a large range.
Thirdly, an on-board camera can be installed for monitoring the robot from
faraway places.

43
 Chapter 8

FEASIBILITY OF THE PROJECT

During the development of the project we researched the feasibility

in different fields, especially software and hardware. The feasibility study is
shown below.

8.1 Software

We targeted to choose a language that is easy to understand and

program. So we chose assembly language for our project. Assembly
language is the basic language of microcontrollers. Although it’s not user
friendly in terms of programming but still one can learn it quickly.

8.2 Hardware

We chose accelerometer as the sensing device because it records

even the minute movements. We could also have completed our project
using Arduino but chose microcontroller instead because its cost is low and
is easily available everywhere. There are a number of dc geared motors
available but the ones we chose are capable of supporting loads up to
6kgs.

44
8.3 Economic

This project is quite cost elective. The components used are easily
available in the market apart from accelerometer, RF modules and the
motors. These components are quite cheap as compared to the motors
which are the only expensive part in our whole project. But these
particular motors are capable of providing support to loads up to 6kgs
which is what we wanted.

45
PROTOTYPE

46
Chapter 9

REFERENCES

1. https://www.slideshare.net/mahkamkhan/wireless-gesture-controlled-
Robot-fyp-report

2. https://www.youtube.com/watch?v=8s116ufjmjk

3. https://create.arduino.cc/projecthub/user206876468/hand-gesture-
Controlled-robot-4d7587

4. https://www.youtube.com/watch?v=eyY5iAKhULw

5. https://www.youtube.com/watch?v=i2U49usFo10

6. https://www.scribd.com/document/98400320/InTech-Real-Time-
Robotic-Hand-Control-Using-Hand-Gesture

7. http://en.wikipedia.org/wiki/DC-motor

8. electronics.stackexchange.com/questions/18447/what-is-back-emf-
Counter electromotive-force

9. http://seminarprojects.com/s/hand-gesture-controlled-robot-ppt

10. Gesture Controlled Tank Toy User Guide

http://www.slideshare.net/neeraj18290/wirelessgesture-controlled-tank-toy-
transmitter

11. Embedded Systems Guide (2002)

http://www.webstatschecker.com/stats/keyword/

12. Robotic Gesture Recognition (1997) by Johan Triesch and Christoph

Von Der Malsburg http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10