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Wireless Hand Gesture Based Helping Robot

Himanshu Sharma

1

, Aditya Sharma

2

and Md.Irfan Ahmed

3

1B.Tech Student, Electrical Engineering Department and Career Point University Kota, India. Email: himanshurkk@gmail.com 2B.Tech Student, Electrical Engineering Department and Career Point University Kota, India. Email: adityasharma20155@gmail.com 3Assistant Professor, Electrical Engineering Department and Career Point University Kota, India. Email: irfanmits.ahmed@gmail.com

Article Received: 01 October 2017 Article Accepted: 22 November 2017 Article Published: 08 December 2017

1.INTRODUCTION

In today’s time, an estimated 40% of the world’s Restaurants, houses, offices, companies etc. uses the robots for

serving, order taking, helping etc. The robots are more flexible and efficient as compare to the human. But making

use of the pc along with the robots is much and increases complexity [3]. This complexity is reduced by making use

of the accelerometer, the size of which is very compact and can be placed on the fingertip of the human. Other

existing systems, which make use of the similar kind of sensors are wired, which again increases the complexity of

the system.

They also limit the long-range communication. This complexity is removed by using the RF transmission. Signals

through RF travel larger distances. Irrespective of line of sight communication, signals through RF travel even

when there is obstruction between the transmitter and receiver. The processing speed of this system is made faster

by making use of I2C protocol. The digital values are processed by the ATmega8 microcontroller and according to

the tilt of the accelerometer sensor mounted on finger, the ATmega8 microcontroller then sends the command to

RF transmitter which is received by the transmitter [1].

2.HELPING ROBOT

In many application of controlling robotic gadget it becomes quite hard and complicated when there comes the part

of controlling it with remote or many different switches. Mostly in military application, industrial robotics,

construction vehicles in civil side, medical application for surgery. In this field, it is quite complicated to control the

robot or particular machine with remote or switches, sometime the operator may get confused in the switches and

button itself, so a new concept is introduced to control the machine with the movement of hand which will

simultaneously control the movement of robot [2].

A B S T R A C T

With the change of time, humans have been replaced by the robots. A robot makes our life easier, works done in less time. Recent development promises a wide scope in developing smart robots. Robots have now become an important part of our lives. Not only in industries have robots now reached door to door, helping us in households also. Can we suppose a single system serving hundreds of people endlessly, without labor and as per our wish. This is a report proposing a gesture based serving robot which serves people in restaurants, parties or household, controlled by our hand movements. The system is divided into two main units: MEMS Sensor and Robot control. The MEMS sensor, which is connected to hand, is a 3-axis accelerometer with digital output (I2C) that provides hand gesture detection, converts it into the 6- bit digital values and gives it to the ATmega8. The Robot control unit is a wireless unit, which decodes the data by using another controller.

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2.1 Circuit Diagram and Working

Fig.1. Circuit Diagram and Working

Construction & Working

An actual-size, single-side PCB layout of the transmitter circuit is shown in Fig. 1. The transmitter section can be

held in your palm or on the other side. The receiver module is mounted on the robot. Mount all components on the

PCBs shown here to minimize assembly errors. Fix the receiver PCB and 4.5V battery on the chassis of the robot.

Fix two motors, along with wheels, at the rear side of the robot and a castor wheel on the front. After uploading the

main code into the microcontroller, remove it from the Arduino Uno board and insert it into the populated

transmitter PCB. Now, switch-on the power supplies in the transmitter as well as receiver circuits. Attach the

transmitter circuit to your hand and move your hand forwards, backwards and sideways. The robot will stop if you

keep your palm horizontal, parallel to the Earth’s surface. Gesture controlled robot moves according to hand

movement as we place transmitter in our hand. When we tilt hand in front side, robot start to moving forward and

continues moving forward until next command is given. When we tilt hand in backward side, robot change its state

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till next command. When we tilt hand in right side robot turned to right. And for stopping robot we keeps hand in

stable.

2.2 Block Diagram

Transmitter Side

 It will detect the gesture and send analog output to the ADC of Atmega16 on the corresponding axis.

 The Microcontroller will send the command based on threshold set on the ADC of

respective axis to the RF encoder Module.

o The Encoder Module (IC HT12E) will

send the corresponding Data bit using RF transmitter to the RF Receiver.

Receiver Side

 The RF Receiver will send the command to IC HT12D and the corresponding Data bit will be pulled high.

 It will Receive the commands from the Atmega16 and will Reverse the polarity/direction whenever required.

2.3 AVR Code

SCL-PC5

SDA-PC4

Motor

PORTD4(M4)-Right Motor+

PORTD5(M5)-Right Motor-

PORTD6(M6)-Left Motor-

PORTD7(M7)-Left Motor+

************************************Program ***********************/

#include<avr/io.h>

#include<util/delay.h> Accelerometer

ATmega8

RF Encoder

RF Decoder

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#include"lcd118010.h"

#include"I2C.h"

#define F_CPU 12000000ul

void main()

{

unsigned char x=0,y=0;

DDRD=0xF0;

PORTD=0x00;

write(0x07,0x01);

while(1)

{

/******************************** X - Data ***************************/

x=read(0x00);

/******************************** Y - Data ***************************/

y=read(0x01);

/******************************** Computation ***************************/

if((x>12) & (x<25))

{

PORTD=0x80;

lcd_gotoxy(1,0);

lcd_string("Right ");

}

else if((x<55) & (x>45))

{

PORTD=0x20;

lcd_gotoxy(1,0);

lcd_string("Left ");

}

else if((y>12) & (y<25))

{

PORTD=0xA0;

lcd_gotoxy(1,0);

lcd_string("Forward ");

}

else if((y<55) & (y>45))

{

PORTD=0x50;

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lcd_string("Backward ");

}

else

{

PORTD=0x00;

_delay_ms(50);

lcd_gotoxy(1,0);

lcd_string("Stop");

}

}

}

3.RESULT

This paper represents that the Wireless Hand Gesture Based Helping Robot.

Fig.2. Result of paper

4.CONCLUSION

This paper gives the race of man v/s machine; hand gesture controlled simulation comes as an example of

companionship of man and machine. The paper “Hand Gesture Control Robot” is implemented by using highly

advanced IC’s and with the help of growing technology the project has been successfully implemented. To avoid

physical hardship to the user come the accelerometer to the rescue as with the slight twist of the finger the user gets

the ability and freedom to turn the robot into the desired direction [4]. A camera is also made to work along it.

Using some other implementations, consumers can be served very easily and efficiently at home or workplace and

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REFERENCES

[1] SwarnaPrabha Jena, Sworaj Kumar Nayak, Saroj Kumar Sahoo, Sibu Ranjan Sahoo, Saraswata Dash, Sunil

Kumar Sahoo "Accelerometer Based Gesture Controlled Robot Using Arduino" International Journal Of

Engineering Sciences & Research Technology ISSN: 2277-9655, 2015.

[2] Love Aggarwal,Varnika Gaur,Puneet Verma "Design and Implementation of a Wireless Gesture Controlled

Robotic Arm with Vision" International Journal of Computer Applications Volume 79 –No 13, 2013.

[3] Liying Cheng,Qi Sun,Han Su,Yang Cong,Shuying Zhao "Design and Implementation of Human-Robot

Interactive Demonstration System Based on Kinect" IEEE Isssue.12 , 2012.

[4] G. R. S. Murthy & R. S. Jadon "A Review of Vision Based Hand Gestures Recognition" International Journal of

References

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