Hand Gesture Controlled Roboat

Shreesha Hangud Ruthvik B J Thejas Gowda R

dept. of electronics and communication dept. of electronics and communication dept. of electronics and communication
vidyavardhaka college of engineering vidyavardhaka college of engineering vidyavardhaka college of engineering
Mysore, India Mysore, India Mysore, India
[email protected] [email protected] [email protected]

Manoj N Dr. Suchitra M

dept. of electronics and communication dept. of electronics and communication
vidyavardhaka college of engineering vidyavardhaka college of engineering
Mysore, India Mysore, India
[email protected] [email protected]

Abstract— This research paper presents an IoT based dangerous for human to carry out tasks like working with
hand gesture-controlled robot. This concept can bring much concentrated hazardous chemicals, treating patients with fatal
comfort, convenience and physical cost reduction in daily life diseases, carrying heavy objects in factories etc. So, in such
as well as industries. The proposed system utilizes an places humans can be replaced by such hand gestured robot to
accelerometer-based motion sensor to detect hand gestures, perform the tasks.
which are then transmitted wirelessly to the robot through an
RF transmitter module. The robot is equipped with RF II. OBJECTIVE
receiver module, which receives the data and Arduino Uno
microcontroller, which interprets the gesture data and
performs the corresponding actions through L293D motor
• The objective of a hand gesture-controlled robot
driver, such as moving forward, backward, turning left or is to provide a means of controlling a robot's
right, and stopping. The use of hand gestures as a control movements or actions through hand gestures,
interface provides a more natural way for users to interact rather than using traditional input devices like a
with robots, compared to traditional methods such as buttons remote controller or a keyboard
or joysticks. The system is demonstrated through the • Connect and communicate with physical
development of a prototype robot, which is capable of devices: IoT facilitates the communication
performing various tasks based on different hand gestures. between human and machine.
The results show that the proposed approach is effective and
accurate in controlling robots using hand gestures, providing
the way for the development of more advanced gesture- III. LITERATURE SURVEY
controlled robotic systems.
Author [1] have designed a basic robotic chassis which
Keywords—IoT, Gesture, Accelerometer, Arduino Uno, can be easily controlled with the help of accelerometer instead
RF module of using button control. In this research work the wire
connection is used to send the signal from transmitter to the
I. INTRODUCTION receiver. The objective of this wired control device is
achieved using Arduino uno and accelerometer. The Arduino
The term IoT i.e., Internet of Things extends capabilities microcontroller receives the analog input values (x axis, y
of real-world objects. The objects are connected to Internet so axis) from the accelerometer and converts that analog value
as to make them capable of sensing the environment around to digital value. The accelerometer is kept on the palm of the
them with least human intervention. These devices collect, user and the robot moves in steps with the palm movement. In
share and use the data to give suitable output using wireless this paper we explained about 5 distinctive gestures role of the
networks. The Internet of Things is making the world around persons hand i.e., stop condition, moving forward, backward
us smarter and more responsive, merging the digital and and turning towards right and left.
physical world.
Authors [2] have described the hand gesture control
The interaction with machine has increased day by day. technology as one of the oldest ways of communication. The
From Switching on Light from Smartphone to Controlling of developed project is described in such a way that the process
vehicle. Technology has become a part in one’s life. There are of recognition of a hand gesture is done in three steps. The
various ways to interact with machine like remote control, first is identifying the hand region in the image. The second
joystick, etc. which is basic method. Nowadays, there be a lot involves feature extraction which comprises of finding
of researches made on controlling of system or device with centroid and major axis of magenta region followed by
human Gestures i.e., eye movement, facial expression or hand finding 5 centroids of cyan and yellow region indicating
gestures which eliminates some barriers like language barrier fingers. The third step involves building classifier using
for robot. Use of robots are increasing and being installed and learning vector quantization. The procedure for the robot to
used in industries to replace humans specially to perform move goes in a stepwise manner where the web cam captures
dangerous and hazardous tasks. A hand gestured control robot the image of the hand signal shown and processes it to find
is a kind which is capable of carrying complex actions under the instruction then the corresponding instruction is sent
human supervision. These can be used in various fields such through file on HTTP port to ESP8226 which is connected to
as industries, research, military and healthcare. It might be
the remote system consisting of chassis with wheels and gesture. This information is then sent to a Arduino Uno
motor to make the robot move. microcontroller and the microcontroller takes the decision
and this information is transferred to the receiver end
Author [3] describes regarding how the conventional hand through the RF transmitter module, this information is
gestures can control a robot and perform our desired tasks. received by the RF receiver module in the Receiver end
The transmitter will transmit the signal in line with the which is send the Arduino in the where it processes the
position of accelerometer and your hand gesture and therefore received data and controls the motors of the robot through a
the receiver will receive the signal and make the robot move motor driver L293D.
in respective direction. Robots are playing a crucial role in
automation across all the sectors like construction, military, Here's a detailed working of a hand gesture controlled robot:
medical, manufacturing. The main objective of this paper is
to present the control of the robot utilizing the accelerometer Transmitter end:
with the assistance of human hand gesture or tilting. Where The user wears an ADXL335 accelerometer sensor on
the accelerometer data is received with the help of hand their hand, which is used to detect the orientation and
gesture and assisted wirelessly. The robot movement is movement of the hand as shown in the Figure 3.3. The
depending on the signal made by your hand and from a accelerometer sensor sends the data to the Arduino Uno
partition. The major components used in this project are microcontroller, which processes the data using an
ADXL335 Accelerometer sensor, L293D motor driver, appropriate algorithm the user has given to detect the
Arduino UNO, Arduino Nano, RF Transmitter and Receiver. specific hand gesture. This data is then transferred to the
IV. METHODOLOGY Receiver end through the RF transmitter module.
4.1 System Design Receiver end:
This Project mainly has two models for its working that is The RF Receiver module receives the data that is sent
Transmitter end and Receiver end, Figure 3.1 shows the block from the transmitter end and based on the hand gesture data
diagram of the Transmitter end and Figure 3.2 shows the detected from the received data, the Arduino Uno
block diagram of Receiver end. Arduino Uno is supplied with microcontroller processes the data and sends a signal to the
a regulated power supply to operate in co-ordination with L293D motor driver to control the motors of the robot. The
other components. Using Arduino Uno make the project more L293D motor driver receives the signal and converts it into
affordable in comparison with other microcontrollers. The a form that can control the motors of the robot. The motors
Arduino Integrated Development Environment – or Arduino of the robot move accordingly, allowing the robot to move
Software (IDE) is more convenient to use and code for each forward, backward, left, right, or turn in different directions,
component. depending on the specific hand gesture detected.
Overall, the hand gesture-controlled robot works by
interpreting the orientation and movement of the user's hand,
and using this information to control the motors of the robot.
It provides a hands-free and intuitive way of controlling the
robot's movement, which can be useful in various
applications such as home automation, industrial
automation, medical fields, and military fields.
4.3 Hardware Requirements
Proposed system consists of hardware and software
requirements, the hardware components used are listed below.
Figure 3.1: Block diagram of transmitter end
4.3.1. Arduino Uno
This is the brain of the robot and is installed with some
code. The Uno is a microcontroller board based on the
ATmega328P. It has 14 digital input/output pins, 6 analog
inputs, a 16 MHz, 206 quartz crystal, a USB connection, a
power jack, an ICSP header and a reset button. Arduino
consists of both a physical programmable circuit board and
a piece of software, or IDE (Integrated Development
Environment) that runs on your computer, used to write and
Figure 3.2: Block diagram of receiver end
upload computer code to the physical board. Arduino Uno
can sense the environment by receiving input from a variety
of sensors and can affect its surroundings by controlling
4.2 Working lights, motors, and other actuators.
A hand gesture controlled robot works by using an
ADXL335 accelerometer in the transmitter end to detect the
orientation of the hand and interpret it as a specific hand
4.4.2. ADXL335 Sensor As we can see the two parts of the prototype namely
transmitter end and receiver end has been shown in figure
The ADXL335 contains three separate accelerometer 4.1, the resultant working of the prototype is explained
sensors, one for each axis: X, Y, and Z. Each sensor is a small, below.
thin, square chip that contains a tiny mass suspended by small
springs. When the accelerometer is moved, the mass moves 5.1. Forward Movement
with it, and the springs bend slightly, creating a small
electrical signal that is proportional to the acceleration. As we can see in figure 4.2, the forward movement of the
hand gesture-controlled robot has been picturised. Once the
4.4.3. RF Module glove consisting of transmitter part of the circuit is tilted in
An RF (Radio Frequency) module shown in Figure 3.5 is forward motion, the accelerometer tilt is sensed and when the
a small electronic device that uses radio waves to transmit and tilt angle reaches the configured degree, a forward command
receive data wirelessly. RF modules consist of a transmitter is sent to the receiver part from the transmitter part. This
and a receiver, which communicate with each other by command communication process is done by the RF module.
sending and receiving radio signals. In the receiver part, once the receiver gets the command, it
sends that message to the Arduino UNO microcontroller and
4.4.4. L293D Motor driver module then the forward movement of the robot is initiated with the
help of L293D motor driver and battery-operated motors.
L293D Motor driver is the most commonly used driver for
Bidirectional motor driving applications. This L293D IC 5.2. Backward Movement
allows DC motor to drive on either direction. L293D is a 16-
pin IC which can control a set of two DC motors
simultaneously in any direction. It means that you can control
two DC motor with a single L293D IC. Because it has two H-
Bridge Circuit inside. The L293D can drive small and quiet
Backward tilt
big motors as well.
Backward
V. RESULT AND DISCUSSION movement
The figure 4.1 shows the top view of our proposed model
prototype. It is a hand gesture controlled robot developed
using Arduino technology as mentioned in the previous Figure 4.3
chapters. As showcased in the figure 4.1, the main
As we can see in figure 4.3, the backward movement of
components used in the developed model are Arduino UNO
the hand gesture-controlled robot has been picturized. Once
microcontroller, ADXL335 accelerometer, L293D motor
the glove consisting of transmitter part of the circuit is tilted
drive and RF pair module.
in backward motion, the accelerometer tilt is sensed and when
the tilt angle reaches the configured degree, a backward
command is sent to the receiver part from the transmitter part.
This command communication process is done by the RF
module. In the receiver part, once the receiver gets the
command, it sends that message to the Arduino UNO
microcontroller and then the backward movement of the robot
is initiated with the help of L293D motor driver and battery-
operated motors.
5.3. Right Movement

Figure 4.1 Right movement

Right tilt

Figure 4.4
Forward movement
As we can see in figure 4.4, the right movement of the
hand gesture-controlled robot has been picturised. Once the
Forward tilt
glove consisting of transmitter part of the circuit is tilted
towards right, the accelerometer tilt is sensed and when the
tilt angle reaches the configured degree, a right command is
Figure 4.2
sent to the receiver part from the transmitter part. This University of Architecture & Technology, Volume
command communication process is done by the RF module. XII, Issue V, 2020
In the receiver part, once the receiver gets the command, it [4] Rutwik Shah, Vinay Deshmukh, Shatakshi Mulay,
sends that message to the Arduino UNO microcontroller and Viraj Kulkarni, Madhuri Pote, Hand Gesture Control
then the right movement of the robot is initiated with the help Car, IJERT, Volume 8, Issue 05 2020
of L293D motor driver and battery-operated motors. [5] Kathiravan Sekar, Ramarajan Thileeban, Vishnuram
Rajkumar, Sri Sudharshan Bedhu Sembian, Hand
5.4. Left Movement Based Gesture Controlled Robot, IJERT, Vol. 9
Issue 11 November-2020.
[6] Amudhan Rajarajan, Sakthivel Murugesan, Gesture
Controlled Robot Using Arduino, Bulletin of Pure
Left movement and Applied Sciences, Vol.37 F 2018
[7] Dr. M.C. Hanumantharaju, Navya Sri N, Lepakshi
V, Mansi KK, Prajwal Pawar, Hand Gesture
Left tilt Controlled Robot Based On Military Purpose,
International Research Journal of Modernization in
Engineering Technology and Science,
Figure 4.5 Volume:04/Issue:06/June-2022

As we can see in figure 4.5, the left movement of the

hand gesture-controlled robot has been picturized. Once the
glove consisting of transmitter part of the circuit is tilted
towards left, the accelerometer tilt is sensed and when the tilt
angle reaches the configured degree, a left command is sent
to the receiver part from the transmitter part. This command
communication process is done by the RF module. In the
receiver part, once the receiver gets the command, it sends
that message to the Arduino UNO microcontroller and then
the left movement of the robot is initiated with the help of
L293D motor driver and battery-operated motors.

VI. CONCLUSION
The hand gesture-controlled robot has many potential
applications. It can be used in various industries, such as
manufacturing, healthcare, education, defence and
entertainment. This robot can be used to automate processes,
reduce the need for manual labour, and improve safety. In
addition, it can be used to help with tasks such as picking up
objects or aiding people with disabilities. With advances in
technology, the potential for hand gesture-controlled robots is
only increasing.
6.1 Future scope
The future scope of hand gesture-controlled robots is
vast. With the advancements in technology, these robots can
be further developed by integrating it with other sensors like
ultra-sonic sensor to avoid objects etc. in a variety of fields
such as healthcare, education, manufacturing, and even in
the home. For example, they can be used to help elderly and

VII. REFERENCES
[1] Benjula Anbu Malar M B, Praveen R, Kavi Priya K
P, Hand Gesture Control Robot, IJITE , Volume-9
Issue-2, December 2019.
[2] Viren Sugandh, Hand Based Gesture Controlled
Robot, IRJET, Volume: 05 Issue: 09, Sep 2018
[3] Bharath Kumar, Aravind Reddy, Anne Gowda,
Hand Gesture Control Car, Journal of Xi'an