IJIRST International Journal for Innovative Research in Science & Technology| Volume 3 | Issue 10 | March 2017

ISSN (online): 2349-6010

Accelerometer Based Gesture Controlled Robot

with Robotic Arm
Chirag S. Budheliya Rajesh K. Solanki
UG Student UG Student
Department of Electronics & Communication Engineering Department of Electronics & Communication Engineering
Dr. Subhash Technical Campus, Junagadh-362001, Gujarat Dr. Subhash Technical Campus, Junagadh-362001, Gujarat
(INDIA) (INDIA)

Harsh D. Acharya Prashant P. Thanki

UG Student UG Student
Department of Electronics & Communication Engineering Department of Electronics & Communication Engineering
Dr. Subhash Technical Campus, Junagadh-362001, Gujarat Dr. Subhash Technical Campus, Junagadh-362001, Gujarat
(INDIA) (INDIA)

Jaydip K. Ravia
Assistant Professor
Department of Electronics & Communication Engineering
Dr. Subhash Technical Campus, Junagadh-362001, Gujarat (INDIA)

Abstract
The paper presents the robot which is controlled by a human gesture using accelerometer. We have controlled the movement of
robot with normal hand gesture. It consists of mainly two parts. One is transmitter part and another is receiver part. A transmitter,
transmit appropriate signal. This signal received by the receiver. Accelerometer is connected to Arduino board, which is
programmed to take analog readings from accelerometer and transmit them using RF transmitter to the receiving unit. The
movement of robot is achieved by the motor. The arm is also equipped with gripper to facilitate the pick and place facility. The
programming is done in Arduino board.
Keywords: Pick & Place, Gesture Controlling, Arduino Mega 2560 Board, ADXL335 Accelerometer, RF Module, Fire
Sensor, DPDT Switch
_______________________________________________________________________________________________________

I. INTRODUCTION

Nowadays, robots are increasingly being integrated into working tasks to replace humans especially to perform the repetitive
task. In general, robotics can be classified into two areas, industrial and service robotics. International Federation of Robotics
(IFR) defines a service robot as a robot which operates semi or fully autonomously to perform services useful to the well-being
of humans and equipment, excluding manufacturing operation. These robots are currently used in many fields of applications
including industries, military tasks, hospital operations, dangerous environment and agriculture. Besides, it might be difficult or
dangerous for humans to do some specific tasks like picking up explosive chemicals, defusing bombs or in worst case scenario to
pick and place the bomb somewhere for containment and for repeated pick and place action in industries. Therefore a robot can
be replaced human to do work. [10]

II. GESTURE TECHNOLOGY

Gesture technology is a topic in computer science and language technology with the goal of interpreting human gesture via
mathematical algorithms. Gestures can originate from any bodily motions or state but commonly originate from face or hand.
Users can use simple gestures to control or interact with devices without physically touching them. [6]
The major application areas of gesture recognition are:
Automotive sector
Consumer Electronics sector
Gaming sector
To unlock smartphones

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Accelerometer Based Gesture Recognition:

This Gesture Recognition methodology has become increasingly popular in a very short span of time. The low moderate cost and
relative small size of the accelerometers are the two factors that make it an effective tool to detect and recognize human body
gestures. [1]

III. BLOCK DIAGRAM

Transmitter:

Fig. 1: Transmitter

Figure.1 shows transmitter part of our system. It consist of Arduino mega 2560 board, Accelerometer (ADXL 335) sensor, RF
transmitter, Selection switch, Gripper controller switch and Power supply. This all components are connected with the Arduino
board. Accelerometer sensor is put on palm of the user for generating different types of gesture. Signal generated by the
accelerometer is given to the Arduino board. Then Arduino board process on that generated signal. Accelerometer recognized
hand gesture and send signal to Arduino board. Arduino board is a microcontroller that controlled all functions. The power
supply block is used to drive transmitter part. Finally all the signal is transmits to the receiver block through RF Transmitter.
Here we used selection switch that provide separate controlling of Robot and Robotic arm.
Receiver:
Fig.2 shows Receiver of our system. It consist of Arduino mega 2560 board, RF Receiver, Motor driver IC L293d, DC motor,
Robotic arm, Fire sensor, Buzzer and Power supply.
The transmitted signal from transmitter block is first received by RF receiver. Then is send to Arduino board. Power supply is
provided by battery or through pc/laptop. Arduino board is send command to the motor driver IC L293d that drives DC motor
according to movement of user hand gesture. Here we used based motor for movements of Robot. Fire sensor is connected with
the Arduino board is detect any smoke or fire when any kind of fire disaster occurred in industry then buzzer is ON.

Fig. 2: Receiver

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IV. ROBOTIC ARM

Robotic arm is main part of this system. It placed at middle of robot. Controlling of robotic arm is done by Arduino board
through three DC motor connected to robotic arm. When user moves is hand in any left, right, forward and backward then
robotic arm is move according to direction of user hand. At end of the robotic arm we connect Gripper mechanism for the
purpose of picking and placing an object.

V. SWITCH MECHANISM

Switch mechanism is another part of this paper. Here we used its mechanism to decide when Robot moves and when Robotic
arm moves for picking and place an object. DPDT switch is used in our system for switching mechanism.
Flow of Design:
Flow of design illustrates the all design process of our system. It shown in below figure 3.

Fig. 3 Flow of Design

VI. SOFTWARE SIMULATION RESULT

We have worked on prototype model which is microcontroller based embedded system. The coding of this system is done in
Arduino sketch software. Projects have two part of programming.
One is transmitter part and another is receiver part. Another software use is Proteus 7 Professional. This is use for the circuit
designing. In this system we can add camera and GSM for detection purpose. We can also use ARM7 processor in place of the
Arduino board. We can increase the range of communication. By doing proper programming we can reduce the complexity of
system.

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Fig. 4: No Hand Movement

Fig. 5: Laft Side Hand Movement

Fig. 6: Right Side Hand Movement

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All above figures illustrates the simulation results of our system. Here we used LED to indicate movements of user hand. No
hand movement condition is illustrated in figure 4. When user hand is not moves in any direction then robot or robotic arm is not
moves. The left side hand movement condition is illustrated in figure 5. When user moves hand in left direction at that time
either robot or robotic arm moves. When user move hand in right direction then robot or robotic arm is moves it shown in figure
no 6. Figure no 7 indicate direction of user hand in down side. When user moves his hand in up side then forth no of LED is ON
shown in figure 8.

Fig. 7: Forward Side Hand Movemen

Fig. 8: Reverse Side Hand Movement

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Fig. 9: Hand Movement

VII. CONCLUSION

After worked on this system we can conclude that when user movements his hand in Left, Right, Down, Up then accelerometer
detect variations and send particular signal to the Arduino board and that signal sent to the receiver part of the system then based
on transmitted signal robot moves and robotic arm move work as pick and placed equipment.

ACKNOWLEDGMENT

We take an opportunity to acknowledge and extend our heartfelt gratitude to our guide. Who is most responsible for help us to
complete this work. He showed to different ways to approach the problems and the need to be persistent to accomplish over goal.
His discernment in the choice of topic, his confidence in us when we doubted over self and his admirable guidance are some
cogent reasons that make us aver that without his support this system would be a chimera. We all also thankful to Director and
Head of Department of Electronics and Communication Engineering for cooperation and support us to complete this work. We
can also like to express thanks to DSTC, JUNAGADH providing necessary facilities.

REFERENCE
[1] Design and implementation of a wireless gesture controlled robotic arm with vision. www.ramauniversityjournal.com
[2] Design and development of accelerometer based system for motion analysis. www.ramauniversityjournal.com
[3] Gesture Controlled Robot using Arduino and Android, Chanda et al., International Journal of Advanced Research in Computer Science and Software
Engineering 6(6), June- 2016, pp. 227 234.
[4] Gesture Controlled Robot using MEMS Accelerometer for Eradication of Weeds, Indian Journal of Science and Technology, Vol 8(5), 460465,
March 2015.
[5] Hand Gesture Recognition Based Robot Using Accelerometer Sensor 10.15662/ijareeie.2015.0405080.
[6] https://en.wikipedia.org/wiki/Gesture_recognition
[7] Hand Gestures Remote Controlled Robotic Arm. Advance in Electronic and Electric Engineering. ISSN 2231-1297, Volume 3, Number 5 (2013), pp. 601-
606 Research India Publications http://www.ripublication.com/aeee.htm
[8] Head Mounted Input Device Using Mems Sensors, Indian Journal of Computer Science and Engineering (IJCSE)
[9] MEMS Accelerometer Based Nonspecific-User Hand Gesture Recognition, IEEE SENSORS JOURNAL, VOL. 12, NO. 5, MAY 2012
[10] Robotic arm control through human arm movement using accelerometers
[11] Wireless control of Robotic arm system using accelerometer sensing and ZigBee Approach. www.irjet.in

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