Downloaded from SAE International by Shaaban Ali, Wednesday, September 01, 2021
2021-01-6000 Published 16 Aug 2021
Autonomous Gesture-Based Control Drone Design
Shaaban Ali and Osama Hassan Abu Dhabi Polytechnic and Assiut University
Salah Aldahash Majmaah University
Citation: Ali, S., Hassan, O., and Aldahash, S., “Autonomous Gesture-Based Control Drone Design,” SAE Technical Paper 2021-01-6000,
2021, doi:10.4271/2021-01-6000.
Abstract
T
he current drone market holds a lot of low-cost drones
that can be controlled either remotely or autonomously.
The command controlling signals can be deployed by
using different methods and techniques to enhance the capabili-
ties and missions of the drone. The microcontroller is usually
used as the drone brain. Motion control and virtual reality (VR)
techniques allow the user new possibilities for a more dynamic
control experience. The goal of the present work is to design,
develop, and deliver a working prototype of an enhanced VR
Keywords
UAV, Motion, Control, Autonomous vehicles, Virtual reality,
Flex sensors
1. Introduction
C
urrently, drones have incredible influence and impact
on our lifestyles as it has brought infinite possibilities.
In the twenty-first century, drones have been used in
various places with multiple functions and use. Drones are
currently used in transportation [1] and have been making
their way in the security industry [2]; having drones can help
reduce the number of technical personnel needed in a
company [3], and drones can do many tasks as well as humans
or even better [4, 5, 6, 7, 8]. Simply creating a drone is not a
big accomplishment, but adding all the extra parts to make it
unique and outstanding is definitely a point of interest in the
present study. The main focus of the present work is to discuss
and explain the integration and interface of these parts
together with off-the-shelf drones.
There are two common drone models [9]: a fixed-wing
drone and a rotary-wing drone. A fixed-wing drone is an
Unmanned Aerial Vehicle (UAV) that has a motor at the end
of the drone for thrust power and a fixed-wing to generate the
lift force in order for it to fly [10]. On the other hand, a rotary-
wing drone consists of one or more rotary motors that can
induce the lift force [11]. The key advantage of the rotary-wing
drone is that it can be more stable when it is up in the air and
provides more stability in capturing the images [12, 13].
motion-controlled drone. The developed prototype is an inte-
grated system that includes an off-the-shelf drone, accelerom-
eter and gyroscope unit, flex sensor, gloves, digital potentiom-
eter, VR headset, and microcontroller. The flex sensor attached
to the hand gloves allows a fully autonomous control of the
drone using the movement of the hand. Hence, the gloves will
allow for a more dynamic control of the drone. Furthermore,
the virtual headset is connected to the onboard camera to
improve the field of view. Detailed integrations and the interface
are discussed including the challenges and constraints.
Therefore, the rotary-wing drone will be used for the present
work. A rotary-wing drone has many setups and configura-
tions depending on how many motors are used [14, 15]. A
drone is called a helicopter, tri-copter, quad-copter, hex-
copter, or octo-copter based on the number of motors: one
rotary motor, three rotary motors, four rotary motors, six
rotary motors, or eight rotary motors, respectively. Because
of its simplicity, accuracy, and ease of use, a quad-copter was
chosen for the present analysis [16]. However, systems, such
as UAVs, are difficult to model accurately because they exhibit
nonlinearity and show variations with time. Therefore, the
control system must address the issues of uncertainty, nonlin-
earity, and complexity. The unpredictable behavior of a UAV
requires a fast and reliable control system. Motion-based
control offers solutions without an accurate mathematical
model and enhances the flexibility and fast response for
problems of this nature [17].
Motion control is the ability to understand and use
human body motions such as of the hand and face to commu-
nicate with and control a computer system or device without
making direct physical contact [18]. Motion control offers a
wide variety of control options, which is why many people are
attempting to integrate motion control into their everyday
lives. The flexibility that comes with using motion control for
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2 Autonomous Gesture-Based Control Drone Design
machines like televisions or drones is highly considerable.
Motion control is used in a lot of applications, like controlling
a TV and playing video games or controlling other electrical
devices [19, 20, 21].
In the literature, there are a few applications and
researchers attempt such as aura drones where the drone is
semi-autonomously controlled by gloves instead of Remote
Control (RC) transmitters or phone apps. In these applica-
tions, selected hand fingers are used for each appropriate
position, and the hand is used for the pitch axis as in [22, 23].
The hand gesture-based control is one of the most powerful
motion controls [24]. Additionally, there are different detec-
tion techniques including computer vision-based systems [25]
and wearable glove sensor-based systems [26]. In [27], a virtual
reality (VR) technology is integrated with the motion capture
system and implemented to a QAV 250 quadcopter.
From the above literature and studies, there is a lack of
autonomous control of drones in terms of motion and gesture
control. The motion and gesture control will enhance and
broaden the drone maneuverability. Moreover, the ease and
simplicity of the implementation by using hands and fingers
will definitely increase the functionality of the control system.
Recently, quite a few applications in the industry are using
gestures and VR control in the drone industry. However, in
the present study, a low-cost off-the-shelf drone is used and
integrated with the proposed gesture control technique. This
is a plug-and-play solution where it can be applied to different
drone models in the market. The main contribution of the
current study is to develop and integrate a low-cost gesture
control technique into off-the-shelf drones.
In the present work, a glove with a flex sensor is used to
control the drone. This type of control will provide more effec-
tive functionality than traditional control systems. Gesture
control will introduce limitless motions that can be made
using the hand. This gives the ability to execute more
commands. Hand gesture-based control also allows more
dynamic control over a drone using the physical movements
of the hand. These movements are used to make motion
control more viable. The applications of using hand gesture-
based control for drones can be seen in various industrial
projects. In 2017, Ntention were successfully able to test their
fabricated gloves for controlling a drone [28]. Also, the DJI
drone company introduced a drone that can be controlled by
using hand motion [29]. Recently, Goolsky company was able
to make a drone that is controlled by a controller attached to
the hand, and when the hand moves, the drone will start
moving too.
In the present work, a hand gesture-based control will
be developed and integrated with an off-the-shelf drone. A
flex sensor attached to a hand glove will be used to detect the
hand and fingers’ movements. The integration, interface, and
development of the system will be described in detail. The
system includes an off-the-shelf drone, accelerometer and
gyroscope unit, flex sensor, gloves, digital potentiometer, VR
headset, and microcontroller. The Drone will be entirely
controlled through a glove where selected fingers for each
required position are identified, and the hand is used for the
pitch axis.
The rest of the paper is organized as follows. Section 2
gives a detailed description of the instrumentations and
sensors whereas Section 3 explains the system integration
including system microcontroller, flex sensor MPU6050 accel-
erometer and gyroscope sensors, and electrical connections
in detail. The Conclusion and future development are
discussed in Section 4.
2. Instrumentation and
Sensors
In the current work, five instrumentation and sensor compo-
nents are used: (1) MPU6050 is used to provide the orientation
of the drone; (2) The flex sensor is used to control the operation
of the four motors; (3) The Arduino Nano receives the signal
from the MPU650 and flex sensor, processes the sensor data,
and conveys the output data to the digital potentiometer’ (4)
The digital potentiometer AD5206 sends the final control
output signals to the drone main circuit; (5) The drone main
circuit board controls the drone movements.
The MPU6050 sensor includes many built-in sensors on
one chip including MEMS accelerometers, gyroscopes, and a
temperature sensor. The accelerometers and gyroscopes are
used to detect the position and orientation of the drone [9]
during the real-time flight. Therefore, it gives an accurate
analog conversion hardware including a 16 bit for each
channel. This module is the most important component as it
has the ability to capture the three axes’ (x, y, z) positions
simultaneously. In addition, it consists of an I2C bus that
interfaces with the Arduino board. The technical specifica-
tions of an MPU6050 are given in Table 1.
A flex sensor, with the specifications given in Table 2,
is used as the main sensor in controlling the drone’s motors.
When the flex sensor bends, the output voltage will accord-
ingly change. The output voltage consequently controls the
drone motors; a high bend movement will result in
increasing the output voltage and hence will increase the
motor speed, and vice versa. This will allow the user to
accurately control the height of the drone without holding
an RC controller.
The drone is controlled through the Arduino Nano v3.0
microcontroller board, which is a surface mount breadboard
embedded version with an integrated USB. The microcon-
troller used in the Arduino Nano is ATmega328; see Table 3
for the technical specifications.
TABLE 1 Technical specifications of the MPU6050 unit.
Power supply 5V
Com. modes Standard I2C
protocol
Built-in modules 16-bit AD converter,
16-bit data output
© SAE International.
Gyroscope range 250, 500, 1000,
2000 °/s
Accel. range 2, 4, 8, 16g
Pin pitch 2.54 mm
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Autonomous Gesture-Based Control Drone Design 3

TABLE 2 Technical specifications of the flex sensor. FIGURE 2 RC circuit board.

Length × width 56 mm × 6.5 mm
Thickness 0.5 mm
© SAE International.

Bending resistance ~9000 ohms

90° bend resistance ~14,000 ohms
180° bend resistance ~22,000 ohms

© SAE International.
TABLE 3 Technical specifications of Arduino Nano v3.0
(Data is taken from Ref. [30]).
Operating 5V
voltage
Digital I/O pins 14 (6 pins for PWM
output)
Analog input 8 pins
pins FIGURE 3 The used digital potentiometer AD5206.
DC current per 40 mA
I/O pin
© SAE International.

Flash memory 32 kB (ATmega328)

SRAM 2 kB (ATmega328)
EEPROM 1 kB (ATmega328)
Clock speed 16 MHz

The drone L6065 RC quadcopter is used to prove the

concept in the proposed study. It has a smooth and simple
design as shown in Figure 1. The drone weighs 0.183 kg and
includes a camera and gimbal. The L6065 transmission signal
distance can be up to 15 m with a maximum of six minutes
© SAE International.

flight time. The drone L6065 RC quadcopter is a low-cost off-

the-shelf drone. It is simple, easy to modify, and within the
limited budget of the project. The main circuit board is
dissembled from the original RC unit of the drone where it is
connected to the digital potentiometer as shown in Figure 2.
The digital potentiometer shown in Figure 3 replaces the
analog one in the main control board of the original
FIGURE 1 Used drone L6065 RC quadcopter.
remote-controller unit. The original analog potentiometer
will not be able to read the digital signals sent by the flex sensor
and MPU6050 unit. The integrated digital potentiometer
AD5206 can effectively read the signals from the flex sensor,
the MPU6050 unit, the accelerometers, and the gyroscopes.
Figure 4 shows the complete hardware system and its
integration, including all the hardware interfaces in the drone
and the connections of the instrumentations and sensors
components.

3. System Integration
The main circuit board receives the signals from different
sensors. As shown in Figures 2 and 5, the original RC unit is
© SAE International.

disassembled to take out the main circuit board. A 4.5 V direct

current (DC) power supply is needed to operate the circuit
board. Hence, three AA 1.5 V DC batteries are connected in
series to achieve the required voltage for the main circuit board.
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4 Autonomous Gesture-Based Control Drone Design

FIGURE 4 Complete hardware configuration of the FIGURE 6 Digital potentiometer AD5206 with a PA0009
controller unit of the drone. adapter (potentiometer board).

© SAE International.

© SAE International.
FIGURE 5 Original RC unit of the drone.

FIGURE 7 24-pin socket to facilitate the integration of the

potentiometer.
© SAE International.

© SAE International.
Figure 6 shows the digital potentiometer AD5206 along
with the PA0009 adapter. The potentiometer is used to send
the commands to the drone where a SOIC configuration is
deployed. The digital potentiometer is installed on the adapter FIGURE 8 Power supply to the main circuit with the voltage
PA0009 potentiometer board as shown in Figure 6. Then a regulator.
24-pin socket is used to facilitate integration and usage of the
potentiometer board with the main circuit board, as shown
in Figure 7.
The required supply voltage to power all the electronics
and sensors is 9 V DC. The electronic components on the
circuit board require a fixed current as well as voltage while
the power supply provides an unstable voltage output that may
result in inconsistent, inaccurate, and fault sensors data and
may also cause malfunction of some electronic components.
Therefore, the DC power supply is regulated by using a 7805
IC voltage regulator. The function of the voltage regulator is
to maintain the output voltage from the power supply at a
constant value. As shown in Figure 8, node 16 is connected
© SAE International.

to the battery 9 V DC while node 17 is connected to the

ground. The green and black wires are for the input and output
pins, respectively. The red wire is passed through all the elec-
tronic components on the circuit board resulting in a fixed
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Autonomous Gesture-Based Control Drone Design 5

5 V DC supply. the following subsections give more details FIGURE 9 Hand-movement drone control using a glove.
for each integrated component.

3.1. System Microcontroller

The Arduino Nano v3.0 is used as the main microcontroller
for the proposed system. The Arduino is installed on the
circuit board that connects all the sensors used in this study.
According to the Vin pin of the Arduino, a 7.5 V connects
with the power supply that has been regulated by the voltage
regulator. There are 14 digital pins and 8 analog pins on the
Arduino Nano board. The sensors are connected to the
Arduino board through input and output pins. The program

© SAE International.
code is included in the Appendix.

3.2. Flex Sensor

In a similar manner, the flex sensor used in this study is
connected to the Arduino board. There are two main types
of flex sensors, depending on sensor requirements and the
resistance range. The flex sensor is a bending strip where its
resistance changes as it bends. The sensor has two terminals,
p1 and p2, to facilitate connection with the board.
3.3. M
 PU6050 Accelerometer
and Gyroscope Sensor
The MPU6050 accelerometers and gyroscopes sensor is
provided on the circuit board [31]. It has three axes of accel-
erometers and gyroscopes on a single chip connected to the
Arduino to detect the nongravitational accelerations. The
purpose of having this compact device on the circuit is to
connect the movement of the drone with the hand movement.
During the movement of the drone, the gyroscopes measure
the rotational velocities and the angular positions in three
axes (x, y, and z). The accelerometers provide the translational
velocities and the linear positions on the three axes (x, y,
and z). Therefore, the drone movement is described in six axes
(6 degrees of freedom). The connection between the MPU6050
and the Arduino uses two wires, and with additional two wires
for powering the circuit by following the I2C protocol. The
connections of the MPU6050 unit are made on a separate
board due to space limitations.
gyroscopes sensor will send the data to the Arduino Nano.
This data is used to control the forward/backward and left/
right movements of the drone. The flex sensor controls the
drone motors’ operation. Bending the flex sensor is the
method that is used for controlling the drone’s motors, i.e.,
more bending results in faster motor rotation. All the signals
used to control the drone will be sent to the digital potenti-
ometer, and then it will pass to the main transmitter
circuit board.
3.5. Electrical Connections
The Arduino Nano is fixed by means of the pins on the nodes
of the main board as shown in Figure 10, while the MPU6050
sensor is fixed on the second board to keep the space for the
connections as shown in Figure 11. The connection between
the MPU6050 sensor with the Arduino Nano is carried out
where two wires from SDA are connected to A4 and A5 of the
Arduino. The last is to powering connection of the DC supply
FIGURE 10 Assembled Arduino circuit board.

3.4. Glove with Sensors

As shown in Figure 9, the flex sensor, accelerometers, and
gyroscope sensors are attached to a glove to enable the control
of the drone by hand movements. The flex sensor is attached
to the index finger on the glove using a double-sided tape and
strong glue to further enhance the strength and durability of
the attachment made. The accelerometers along with the gyro-
scopes are attached towards the middle of the glove to have
maximum stability. The flex sensor and the accelerometers/
© SAE International.

gyroscopes sensor are attached from the outside of the glove

to refrain from touching the skin and thus have a safety barrier.
When changing the tilting angle of the hand, moving
the hand forward to the right or the left, the accelerometers/
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6 Autonomous Gesture-Based Control Drone Design
FIGURE 11 Connections of the MPU6050 sensor with the
Arduino Nano.
© SAE International.
output voltage which is regulated from the battery 5V and the
second wire to the ground for both of MPU6050 and Arduino
Nano board.
The wiring connections of the Arduino and the digital
potentiometer are first made by connecting the two boards to
an empty breadboard and then using wires to connect the
boards. Port D13 on the Arduino is connected to port CLK,
which is the serial clock input on the digital potentiometer.
Port D11 from the Arduino is connected to the SDI (Serial
Data Input). Port D10 from the Arduino is then connected to
the CSI (Chip Select Input). On the Digital Potentiometer,
port Vdd is connected to the positive power supply. Finally,
the negative power supply port Vss and GND are connected
to the ground, as shown in Figure 12.
FIGURE 12 Connection between the Arduino and digital
potentiometer.
© SAE International.
FIGURE 13 Assembly of the digital potentiometer and the
main transmitter circuit.
© SAE International.
During the assembly process, various connections are
made. As shown in Figure 13, Terminal B is connected to
channel 1, Wiper RDAC 4 is connected to channel 2, Terminal
A RDAC 4 is connected to channel 3, and Wiper RDAC 1 is
connected to channel 4. The main transmitter circuit is
connected to a 4.5 voltage and is grounded. As for the digital
potentiometer, Terminal A RDAC 3, Terminal A RDAC 1,
Terminal A RDAC 2, and Terminal A RDAC 4 are all
connected to a 4.5 voltage supply. On the other hand, Terminal
B RDAC 4, Terminal B RDAC 2, Terminal B RDAC 1, and
Terminal B RDAC 3 are connected to the ground.
4. Conclusion
This paper presents the architecture, design, and implementa-
tion details of a motion-controlled drone. In this work, a
working prototype of a motion-controlled drone is designed,
developed, and delivered. The main components of the system
are presented in detail. The integration and interface between
instrumentations, sensors, and the drone are described. The
appropriate instrumentations, interface, and programming
is presented. All the issues that arise from the interface and
integration are addressed. The aims of the project have been
achieved including a working prototype, and it had been
verified in the real flight test. However, further refinement
should be done to ensure the power distribution that causes
a delayed response. Also a data logger should be included in
the system. Appropriate wiring and advanced soldering proce-
dures should be implemented. Furthermore, the integration
of VR technologies with motion control may enhance the
mobility of UAV control. Currently, the VR gesture-based
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Autonomous Gesture-Based Control Drone Design
control is carried out for further enhancement and control of
the UAV. Also the issue of delayed response will be addressed
in the off-the-shelf drone industry. This will provide a plug-
and-play solution for various UAVs.
Further work is currently conducted including the testing
of the working prototype, acquiring performance data, and
appropriate representation of the data to convey that the
prototype control system works as expected.
Acknowledgment
This work is supported by Sandooq Al Watan Funding scheme,
UAE Government.
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