Hand Gesture Control Robot

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 09 Issue: 05 | May 2022 www.irjet.net p-ISSN: 2395-0072
© 2022, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 1632
Hand Gesture Control Robot
Sachin Navghare1, Milind Jadhav2, Ashwin Bhagwat3, Prof. P.P Gaikwad4
1,2,3 Student of , Department of Electronics and Telecommunications Engineering, TSSM’s BSCOER, Pune,
Maharashtra, India
4 Professor, Department of Electronics and Telecommunications Engineering, TSSM’s BSCOER, Pune, Maharashtra,
India
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Abstract- As more and more features are integrated intothe
vehicle's human-machine interface (HMI), the processing of
the device becomes more complex. Therefore, optimal use of
various human sensory channels is an approach to simplify
interaction with in-vehicle devices. With this idea, you can
realize a Car robot that can be navigated wirelessly with the
help of Arduino.
Robots play a major role in our lives today. There are
many types of robots, including wheeled robots, flying robots,
and factory construction robots. The current way to control
these robots is to use a keyboard, joystick, orpre-programmed
commands. This project introduces a new way to control a
robot using gestures. This project aims to build a remote
control robot (car) that is remotely controlled using only
gestures.
The project consists of two components: a car and a
control station. The control station is a computer withgesture
recognition hardware, so it canrecognizecommandsandsend
them to the car. The control station is an Arduino
microcomputer. Hand movementdata fromtheaccelerometer
is sent to the HT12E encoder via Arduino. The value is then
transmitted with the help of the transmitter, where the
receiver receives the value at the receiver part, where it is
decoded by the decoder HT12D and transferred to the motor
driver L293D. Therefore, the motor is controlled by the data
received from the motor driver.
Key Words: Gesture, accelerometer, gesture control,
accelerometer control, manual robot
1. INTRODUCTION
Gesture recognition is a topic of science and
language technology aimed at interpreting human gestures
through mathematical algorithms. Gestures can occur from
any body movement or condition, but usually from the face
or hands. Users can use simple gesturestocontrol oroperate
the device without physically touching it. Many approaches
have been developed using cameras and computer vision
algorithms to interpret sign language. However, the
identification and recognition of posture, walking, personal
computers, and human behavior are also subject to gesture
recognition techniques. Gesture recognition canbeseenasa
way for computers to understand the languageofthehuman
body. This builds a richer bridge between machines and
humans than a primitive text userinterfaceorGUI(graphical
user interface). Using a mouse, it interacts naturally without
any mechanical devices. The concept of gesture recognition
allows you to point your finger at this point and move
accordingly. This can result in traditional input on such
devices, and can even be obsolete.
2. BLOCK DIAGRAM
The robot operates on the output of an accelerometer
(ADXL345) that records hand movements and sends data to
the Arduino that assigns the correct voltage level. The
information is then sent totheencoder(HT12E),readyforRF
transmission. On the receiving side, the information is
received by the RF receiver and passed to the decoder
(HT12D). Data from the encoder issenttothemotordriverIC
(L293D), which triggers motors of differentconfigurationsto
move the bot in different specific directions.
2.1 CONDITIONS of OPERATION
Requirements: Theuserkeepstheaccelerometerparallel to
the ground. At this point, the signal from the accelerometer
is sent to the Arduino and the robot stops moving. This state
is called the stopped state here.
Tilt Forward: When the user holds the accelerometer and
the accelerometer tilts forward, the x, y,zaxesaresenttothe
Arduino. If the x, y, and z axes meet the conditions x> * 250,
y> = 20, z> = 0, the robot will move forward.

Backward tilt: When the user holds the accelerometer and
the accelerometer tilts backwards, the x, y, z axes are sent to
the Arduino. When the x, y, and z axesmeettheconditionsx>
= 0 and x <= 20, y <= 60 and y> = 20, z> = 150, the robot
retreats.
Tilt Left: When the user holds the accelerometer and the
accelerometer tilts to the left, the x, y, and z axes are sent to
the Arduino. If the x, y, and z axes meet the conditions x> = 0,
x & lt; = 20, y> = 3, y> = 250, z> = 1, the robot moves to the
left.
Tilt Right: If the user holds down the accelerometer and the
accelerometer tilts to the right, the x, y, and z axes will be
sent to the Arduino. If the x,y,z axes satisfies the condition
x>=0 and x<=20,y>=250,y>=60 ,z>=1, therobotmovesright.
3. HARDWARE REQUIREMENTS
3.1 Atmega 328p
The ATmega328P is a high-performance, low-power 8-bit
AVR microcontroller that, thanks to its advanced RISC
architecture, can deliver 131 high-performanceinstructions
in the most clock cycles. It is commonly seen as a processor
for Arduino boards such as the Arduino Fio and Arduino
Uno.
3.2 ACCELEROMETER
An accelerometer is an electromechanical device that
measures acceleration force. These forces can be static, such
as pulling the foot with constant gravity, or dynamic,
generated by the movement or vibration of the
accelerometer. It is a type of sensor that recordsacceleration
and provides analog data as it travels in the X, Y, Z directions,
or X, Y directions, depending on the type of sensor. The
ADXL345 sensor moduleisacomplete6-axismotiontracking
device. It combinesa 3-axis gyroscope, 3-axisaccelerometer,
and digital motion processor in a small package.Thereisalso
an additional feature of the on-chip temperature sensor. It
has an I2C bus interface for communicating with the
microcontroller.
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 is mainly used
in interfacing RF and infrared circuits. The chosen pair of
encoder/decoder should have same number of addresses
and data format. Simply put, HT12E converts the parallel
inputs into serial output. It serially encodes 12-bit parallel
data for transmission on the RF transmitter. These 12 bits
are split into 8 address bits and 4 data bits.
An RF (radio frequency) module is a (usually) small
electronic device used to send and receive radio signals
between two devices. In embedded systems, it is often
desirable to be able to communicate wirelesslywithanother
device. This wireless communication can be achieved via
optical or radio frequency (RF) communication. RF
communication includes transmitters and receivers. They
are different types and ranges. This HFmoduleconsistsof an
HF transmitter and an HF receiver. The transmitter /
receiver pair (Tx / Rx) operates at a frequency of 434MHz.
The RF transmitter receives the serial data and sends it
wirelessly over the RF via the antenna connected to Pin4.
The transmission speed is 1Kbps 10Kbps. The transmitted
data is received by an RF receiver operating at the same
frequency as the transmitter.
The HT12D is a decoder integrated circuit belongingtothe
212 decoder series. This set of decoders is primarily used in
remote control system applications such as burglar alarms,
car door controls, and security systems. It primarily serves
as an interface for RF and infrared circuits. They are paired
with the 212 series encoders. The selected encoder /
decoder pair must have the same number of addresses and
the same data format. Simply put, the HT12D convertsserial
inputs to parallel outputs. For example, it decodes the serial
address and data received from the RF receiver into parallel
data and sends it to the output data pin. The serial inputdata
is continuously compared to the local address three times. If
no error or mismatch code is found, the input data code is
decoded. Valid transfers are indicated by the High signal on
the VT pin.
The L293D is an integrated circuit (IC) for two Hbridge
motor drivers. The motor driver receives the low current
control signal and supplies the high current signal, thus
acting as a current amplifier. This high current signal isused
to drive the motor. The L293D incorporates two Hbridge
driver circuits. In its common mode of operation, two DC
motors can be driven both forward and backward at the
same time. The motor operation of the two motors can be
3.3 ENCODER(HT12E)
3.4 RF MODULE
3.5 DECODER (HT12D)
3.6 MOTOR DRIVER (L293D)

controlled by the input logic of pins 2 and 7 and 10 and 15.
Input logic 00 or 11 stops the corresponding motor. Logics
01 and 10 rotate clockwise and counterclockwise,
respectively. Release pins 1 and 9 (corresponding to two
motors) must be raised for the motors to work. If the enable
input is high, the associated driver is enabled. This activates
the output and operates in phase with the input. Similarly, if
the enable input is low, this driver is disabled, its output is
turned off, and it is in a high impedance state.
A gadget that converts DC strength into mechanical
strength is called a DC motor. Its operation is primarily
based totally at the precept that after a modern-daywearing
conductor is positioned in a magnetic discipline, the
conductor stories a mechanical force. DC automobileshavea
revolving armature winding however non-revolving
armature magnetic discipline and a desk bound discipline
winding or everlasting magnet. Different connections of the
sphere and armature winding offer specific pace/torquelaw
features. The pace of a DC motor may be managed via way of
means of converting the voltage carried out to the armature
or via way of means of converting the sphere modern-day.
4. WORKING
Gesture controlled robot makemovementsaccordingto the
user`s hand gesture recognized by the transmitter deviceon
our hand. When we tilt hand on front side, the robot starts
moving forward direction and continue moving forward
direction until the next command isgiven.Whenwetilthand
on the backside, the robot switch its state and start going in
the backward direction until another command is given.
When we tilt hand towards left side, it will turn left till next
command. When we tilt our hand in rightsiderobotwill turn
to the right side. The circuit of this hand gesture control
robot is very simple. RF pairs are used to communicate and
connect with Arduino. The motor driver interfaces with the
microcontroller to operate the robot. Here we use two used
DC motors to drive the robot, one motor connected to the
outputs of motor drivers 3 and 6 and the other motor
connected to 11 and 14. The 9 volt battery power is also
used to power the motor driver to operate the motor.
Table:- Condition for motor
5. RESULT
During this task, a gesture control robot was designed that
was operated by the gestures of a human hand. The user
must have a transmitter device in his hand, including an
accelerometer that sends certain commands to the robot to
navigate in harmony with the movement of the user's hand
and the receiver of the robot.RF modules typicallyoperateat
frequencies of 434MHz and range from 100 meters. The
transmission speed is 1Kbps 10Kbps. Thetransmitteddatais
received by an RF receiver operating at the same frequency
as the transmitter. Transmission over RF is always better
than IR
3.7 DC MOTOR

6. LIMITATION AND FUTURE WORK
i. The 9V battery used provides onlya limitedamount
of power to the system. Instead of a battery, another power
source would be more useful.
ii. The range of the RF module (RF 434) is limited
(about 500 feet). This issue can be resolved by using a GSM
module for wireless transmission. GSM infrastructure is
installed almost everywhere in the world. GSM offers not
only wireless connectivity, but also very long distances.
iii. Third, you can install an in-vehicle camera to
remotely monitor the robot. All you need is a send and
receive module that provides livestreaming.
7. CONCLUSION
The main goal of this projectwastobuilda robotcar
to drive using hand gestures received from the ADXL345
accelerometer via RF wireless communication. The
Atmega328p is used as a microcontroller. The car shows the
correct movement for various hand gestures given and
adjusted. Hand movement data from the accelerometer is
sent to the HT12E encoder via Arduino. Then the value is
sent with the help of the transmitter. The receiver receives
the value in the receiver section, where it is decoded by the
HT12D decoder and sent to the L293D motor driver.
Therefore, the motor is controlled by the data received from
the motor driver. The car will only moveiftheaccelerometer
moves in a particular direction according to the given
calibration values.
8. REFERENCES
[1] Sang-Yub Lee, Jae-KyuLee,Jae-JinKo.Implementationof
System Model applied to Wearable Device Platform for
the User’s Gesture Recognition in Vehicular
Environment. Proceedings of 2015 IEEE, DOI
10.1109/FGCN.2015.14.
[2] Fabian Sachara, Thomas Kopinski, Alexander Gepperth,
UweHandmann.Free-handGestureRecognitionwith3D-
CNNs for In-car Infotainment Control in Real-time.
Proceedings of 2017 IEEE.
[3] Francisco Parada-Loira, Elisardo González-Agulla, José L.
Alba-Castro. Hand Gestures to Control Infotainment
Equipment in Cars. Proceedings of 2014 IEEE Intelligent
Vehicles Symposium (IV), June 8-11, 2014. Dearborn,
Michigan, USA.
[4] Karolis Root, Renaldas Urniezius, “Research and
development of a gesture-controlled robot manipulator
system”, IEEE International Conference on Multisensor
Fusion and Integration for Intelligent Systems
(MFI),2016.
[5] Dr.CKGomathy,Article:TheSecuredProficientSmartElectr
onicVotingSystem,InternationalJournalofEngineeringan
dAdvancedTechnology(IJEAT)ISSN:2249–8958,Volume-
9Issue-4,April2020

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