Hand gesture controlled robot

PROJECT REPORT
ON
HAND GESTURE
CONTROLLED ROBOT
DHARMSINH DESAI UNIVERSITY
FACULTY OF TECHNOLOGY
DEPARTMENT OF ELECTRONICS & COMMUNICATION
PREPAREDBY: GUIDED BY:
MANAV CHAUHAN (EC-012) PROF. RACHIT K. DANA
HARDIK JODHANI (EC-021)

CERTIFICATE
This is to certify that the term work carried out in the subject of TERM PROJECTand
recorded in this report are bonafide by Mr. MANAV CHAUHAN & Mr. HARDIK
JODHANI Roll No.: EC-012 & EC-021 Identity No.:14ECUBG058&
15ECUOD011respectively of B.Tech semester 6th
in the branch of ELECTRONICS
& COMMUNICATION during the academic year 2016-2017.
Staff in Charge Head of the Department
Date: Date:

ACKNOWLEDGEMENT
We hereby, completing this project, would like to express our very great appreciation to Prof.
RACHIT K. DANA for providing required guidance and his valuable and constructive
suggestions during our project work. His willingness to give his time so generously has been
very much appreciated.
We would also like to thank our friends for their timely help comment and suggestions. Their
suggestions and comments had really given me new direction to think on project.
We also thank head of department Prof. Dr. N.J. Kothari for giving us the opportunity to
carry out a thesis of our choice.
Lastly, we would like to extend our gratitude to authors of the papers and information sources
without which this project would not have been possible.
The Faculty of technology of Dharmsinh Desai University- Nadiad has provided us with the
knowledge and assistance that constructed the foundation required in us to initiate and follow
through a project such as this, and for that we are grateful to all the teachers, officers, and staff
of the EC Department.
Finally, we would like to express our gratefulness towards our parents and Almighty for being
there with us through and thin.

ABSTRACT
Gesture controlled robot is a robot which can be controlled by hand movement. User needs to
wear simple gesture device in hand which indicates sensor. The sensor will record the
movement of hand in a specific direction which will result in the movement of the robot in the
respective direction . The robot and the gesture device are connected wirelessly at 433MHZ
radio waves. The wireless communication enables the user to interact with the robot in a more
friendly ways.

INDEX
Title Page no.
1. Introduction 07
2. Block diagram 08
3. Components 09
4. System implementation 10
5. Result 12
6. Future scope 14
7. Applications 15
8. Conclusion 16
9. References 17

Department Of Electronics & Communication, Faculty Of Technology, Nadiad Page 6
TABLE OF FIGURES
No. Figure name Page no.
1 Block diagram of transmitter module 7
2 Block diagram of receiver module 7
3 Transmitting circuit 12
4 Receiver circuit 12

CHAPTER 1
INTRODUCTION
In the existing system, human hand movements are sensed by the robot through sensors and it follow the
same. As the person moves their hand, the accelerometer also moves accordingly sensor displaces and this
sensor senses the parameter according to the position of hand. In this system, a gesture driven robotic
vehicle is developed, in which the vehicle movements and manipulations ie, handling and control is
depends on the gesture of the user. In this system, gesture is captured by accelerometer and it is processed
by software namely, microcontroller software and the parameters are sent to microcontroller and encoder
circuit, It is further transmitted (transmitter section) by RF433.92 MHZ transmitter. In the receiver section,
the RF 433MHZ receiver holds down the received parameters and process with microcontroller and gives
those parameters to the robotic vehicle so that it act accordingly to the gesture. By this system, it is
possible to achieve processing of long distance. This system is knowingly developed to apply in medical
field for nursing assistance to physicians and in surgeries.

CHAPTER 2
BLOCK DIAGRAM
Fig 2.1 Block diagram of Transmitter Module
Fig 2.2 Block diagram of Receiver Module

CHAPTER 3
COMPONENTS
Accelerometer:- An Accelerometer is a kind of sensor which gives an analog data while moving in
X,Y,Z direction or may be X,Y direction only depends on the type of the sensor. In accelerometer there is
some arrow showing if we tilt these sensors in that direction then the data at that corresponding pin will
change in the analog form.
Comparator:- For the purpose to change the analog voltage into digital we use comparator which
compare that analog voltage to a reference voltage and give a particular high or low voltage.
RF transmitter module (TX):-The transmitter module work at 433MHZ frequency and it is easily
available in market at the nominal cost. In the circuit, Vcc pin is connected to the +ve terminal. The data
pin is connected to the HT12E that is transmitted or we can say that encoded data. The next pin is GND
which is connected to the ground terminal. Now the last pin ANT is connected to small wire as antenna.
RF ReceiverModule (RX):- The RF receiver module will receive the data which is transferred by
the gesture device. It is also working as similar to the transmitter module- Connect the +Vcc pin to the
5volt terminal. Connect the ground pin to the ground terminal .The data pin is then connected to the
HT12D (pin-2) .So that we can get the decoded 4 bit data.
Decoder(HT12D):- We can say that an HT12D converts that serial data into parallel which is received
by the RF receiver module. The input data is decoded when there is no error or unmatched codes are
found. A valid transmission in indicated by a high signal at VT pin that is pin no1.
Microcontroller:- AT89S52 is microcontroller used in an integrated circuit with a processor and other
Support devices like program memory, I/O port, serial communication interface etc. integrated together.
Transmitters are usually subject to Regulatory Requirements which dictate the maximum allowable
Transmitter power output, Harmonics, and band edge requirements.

CHAPTER 4
SYSTEM IMPLEMENTATION
3.1 Methodologyfor hand motion recognition
The handheld controller is a 3D rigid body that can be rotated about the three orthogonal axes. Yaw, pitch
and roll are referred to as rotation. These rotation takes place as Z-axis is called yaw , the next rotation X-
axis is called pitch and last rotation about the Y-axis is called roll. Any orientation can be achieved by the
composing those three elemental rotation. In our work, all of the planned hand motions for robot control
are simple gestures, each of which contains only one of the three elemental rotations. Gestures composed
of more than one elemental rotation are too complicated for such kind of application.
3.2 Methodologyfor communication signal
Transmitter Module
An RF transmitter module is a small PCB ie, printed circuit board sub-assembly capable of transmitting a
radio wave and modulating that wave to carry data. Transmitter modules are usually implemented
alongside a micro controller which will provide data to the module which is transmitted. RF transmitters
are usually subject to regulatory requirements which dictate the maximum allowable transmitter power
output, harmonics and band edge requirement.
Receivermodules
An RF Receiver module RF433-RX is 433.92 MHz radio receiver receives the modulated RF signal, and
then it demodulates. There are two types of RF receiver module. Super-regenerative modules are usually
of low cost and low power designs using a series of amplifiers use to extract modulated data from a carrier
wave. Super-regenerative modules are generally imprecise as their frequency of operation varies in a fair
amount with temperature and power supply voltage. Super heterodyne receivers having a performance
advantage over super-regenerative; they offer increased an accuracy and stability over a large voltage and
Temperature range. This stability comes from a fixed crystal design which in turn leads to a
comparatively more expensive product Radio receiver which receives the transmitted coded from the
remote place these codes are converted to digital format and output is available to the pin no 2 of the ic2
master microcontroller; this is the pin of inbuilt art of the microcontroller. We Based on the input codes
master will give command to slave microcontroller and robot will behave as follows.

Department Of Electronics & Communication, Dharmsinh Desai University,Nadiad Page 11
3.3 Methodologyfor Motion Control
L293D is a dual H-bridge motor driver integrated circuit(IC). Motor drivers act as current
amplifiers as they take allow-current control signal and provide a higher-current signal. This
higher current signal is used to drive the motors.L293D contains two inbuilt H-bridge driver
circuits. In common mode of operation, two DC motors can be driven simultaneously, both in
forward and reverse direction. The motor operations of two motors can be controlled by input
logic. When an enable input is high, the associated driver gets enabled. As a result, the outputs
become active and work in phase with their inputs. Similarly, when the enable input is low,
that driver is disabled, and their outputs are off and in the high-impedance state. This project
controls a remote robot through RF. The ordinary 433.92 MHz RF modules are used in this
project.AT89S52 microcontroller is used in this project. This robot can perform their
operations without direct human guidance. They are used basically for industrial applications
and can be made laser guided. Navigation is achieved by one of the several means, including
following a path defined by buried inductive wires, surface mounted magnetic or optical
strips; or alternatively by the way of laser guidance. This is an improved version of my
previous robot which we designed years ago. Intelligent spy robot project has been designed
for the spying purpose .it is radio controlled and can be operated at a radial distance of 100m
radius. Most probably our army youth need to venture into the enemy area just to track their
activities.

CHAPTER 5
RESULT
Transmission through RF (Radio frequency) is better than IR(infrared) because of many
reasons. Firstly, signals through RF can travel through larger distances making it suitable for
long range applications. Also, while IR mostly operates inline Of sight mode, RF signals can
travel even when there is an obstruction between transmitter & receiver. Next, RF
transmission is more strong and reliable than IR transmission. RF communication uses a
specific frequency unlike IR signals which are affected by other IR emitting sources. This RF
module comprises of an RF Transmitter and an RF Receiver. The transmitter/receiver
(TX/RX) pair operates at a frequency of 433.92MHz an RF transmitter receives serial data
and transmits it wirelessly through RF through its antenna connected at pin4. The transmitted
data is received by an RF receiver operating at the same frequency as that of the transmitted.

Fig.5.1 transmitting circuit
Fig.5.2 receiver circuit

CHAPTER 6
FUTURE SCOPE
In the receiver section a wireless camera is placed to monitor the performance of robot arm
along with patient side (Robot arm side) 5 vital parameters (ECG, Respiration rate, Pulse
rate, Temperature, Heart beat) of patient is monitored. This is a preventive measure for any
imbalance in victim’s metabolism (temperature, pressure, heart rate), ALARM in transmitter’s
section (physician side) will be ringing, which in turn brings into notice of physician that
patient is in some critical situation, so that the physician immediately going to stops the action
of robotic arm and he will inform the nearby doctors to take care of patient. This robotic arm
developed is to reduce man power in medical field, take care of patient in absence of
specialist/surgeon and to impart the robotic in medical areas.

CHAPTER 7
APPLICATIONS
Though the use of gesture recognition remote control with the wave and hand of a various
device is possible.
Gesture controlling is very helpful for handicapped and physically disabled people to achieve
certain tasks, such as a driving vehicle.
Gesture can be used to control interactions for entertaining purposes such as gaming to make
game player’s experience more interactive or immersive.
These robots are used in military applications to operate robots.
These robots are used in medical applications for the purpose of surgery.
These robotics are used in the construction field.
These robotics are used in industries to control trolly and lift.

CHAPTER 8
CONCLUSION
As the accelerometer based automated system presented which would very useful for
physically challenged persons and for the who can not move their body except head and
fingers. Also the accelerometer sensor is calibrated such that it produces particular analog
voltage for corresponding tilt. And we have achieved our objective without any hurdles. The
robot is showing proper response whenever we move our hand

CHAPTER 9
REFERENCES
[1]http://electronicsforu.com/electronics-projects/hardware-diy/wireless-gesture-controlled-
robot/
[2] Chan Wah NG, Surendra Ranganath, Real-time Gesture Recognition System And
Application Image And Vision Computing(20): 993-1007, 2002.
[3] Sergios Theodoridis, Konstantinos Koutroumbas, Pattern Recognition, esevier Publication,
Second Edition, 2003.
[4] Seyed Eghbal Ghobadi, Omar Edmond Loepprich, Farid Ahmadov Jens Bernshausen,
Real Time Hand Based Robot Control Using Multimodal Images, Iaengm International
Journal Of Computer Science, 35:4, IJCS_35_4_08, nov 2008.
[5] The 8051 Microcontroller Kenneth J. Ayala
[6] Electronic Material And Components P.C. Rao & D.V.Satrawe

Hand gesture controlled robot

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