Wireless Hand Gesture Based Helping Robot
Himanshu Sharma
1, Aditya Sharma
2and Md.Irfan Ahmed
31B.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With the change of time, humans have been replaced by the robots.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.
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
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
#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;
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
REFERENCES
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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