Literature Review: Controlling Robotic Arm

through Human Gestures using Accelerometer

Introduction:

With the increasing demand for automation and the replacement of human labor with robots, the
need for precise and efficient robotic arms has become imperative. Robotic arms are used in
industries, hazardous environments, military tasks, agriculture, and many other fields. The use of
human gestures to control robotic arms is becoming quite popular due to its small size and
moderate cost. In this literature review, we analyze the proposed model for controlling robotic arms
through human gestures using accelerometers.

Related Work:

Gesture control technology has gained popularity in recent years, and several works have been
implemented in this field. Researchers have implemented industrial arms like MOTOMAN HP6 based
on learning and Artificial Neural Networks [4]. Researchers have used Kinect at the Humanitarian
Technology (HuT) Labs of Amrita to build a Robotic arm that mimics the motion of the human arm of
the user [5]. The skeletal image of the arm obtained using the “Kinect Skeletal Image” project of
Kinect SDK, consists of 3 joints and links connecting them. Some researchers implemented a Gesture
Actuated Robotic Arm using MEMS-accelerometer sensors placed on different joints of the human
hand [6]. Additionally, researchers have developed an Integrated Vision-based robotic arm interface
for operators with upper limb mobility impairments [7], which was developed to operate a
commercial wheelchair-mounted robotic manipulator (WMRM).
Proposed Model:

The proposed model consists of a transmitting and receiving unit. The transmitting unit is placed on
a glove worn by the human hand and contains an accelerometer, a microcontroller (ATmega16), and
an RF transmitter to transmit codes against different ADC values from MCU. The microcontroller
takes analog readings from the accelerometer and transmits them using an RF transmitter to the
receiving unit at the robotic arm. The movements of the robotic arm are achieved through Servo-
Motors, which are a type of electromechanical actuators that do not rotate continuously like DC/AC
or stepper motors. The arm is also equipped with a gripper to facilitate the pick and drop facility. The
whole arrangement is placed on a mobile platform with wheels to facilitate movement from one
place to another, which can be controlled using a wireless remote control.
Conclusion:

The proposed model offers a novel solution for controlling robotic arms through human gestures.
The use of an accelerometer mounted on the human hand enables the robotic arm to perform
actions according to the action of the human hand, making it more intuitive and human-like. The use
of Servo-Motors also allows for precise movements and the gripper facilitates pick and drop facility.
The mobile platform with wheels makes the system highly versatile and mobile. This model can find
applications in various fields, including hazardous environments, industrial, and service robotics, and
can make human-robot interaction more efficient and effective.