DESIGN AND IMPLEMENTATION OF ACCELEROMETER

BASED
HAND GESTURE CONTROLLED ROBOT
OJAS MAHESWARI
B.E. (ECE),IITM GWALIOR

PRATEEK TRIPATHI
B.E.(ECE),IITM GWALIOR

ABSTRACT-Nowadays, making a VLSI circuit is a tedious job for humans .If a Robot is engaged for this
work, we can get maximum output in less time. VLSI circuits, that use highly efficient manpower and
prcised handwork, have a innumerous application of the Hand Gesture Controlled Robot. Robots with
hand gesture recognition techniques are very much efficient, especially in the field of research, military
and medical. This result in reduce manpower and increased throughput. This Paper tells about an MEMS
Accelerometer based system to control an industrial robot using low cost and small 3-axis wireless
Accelerometer .To detect these gestures ADXL 335 sensor is used. This sensor is attached to the human
arms, capturing its gestures and postures. The analog output of accelerometer sensor is converted to
digital form by ADC of ATmega16 microcontroller. The functions performed by robot are LEFT, RIGHT,
BACKWARD, FORWARD, STOP .In future; we can use more than one Accelerometer so that the gestures
of other parts of Human Body can be used as controls. Other functions can be PICK, PLACE, and DROP
etc. Further recognition rate will be improved by manipulating system response time. The system can
equipped with a camera also which can stream real time video wirelessly to any Internet enabled device
such as Mobile Phone, Laptop, etc.
Keywords- VLSI, Recognition, MEMS, Accelerometer, ADXL 335, ADC, ATmega16.

1. INTRODUCTION:A robot is a electromechanical machine that is operated by a computer by suitable programming. To

control a robot through the switches and wires is still a tough and time-taking job .Therefore, new ways
for controlling the robot are to be found. In the field of robotics, several research have been pointing
towards recognizing human gestures.. The moderate cost and small size of the accelerometers make it
an effective tool to detect and recognize human body gestures. An accelerometer is used to detect the
tilting position of your hand, and a microcontroller gets different analogue values and generates
command signals to control the robot. MEMS accelerometer sensor is commonly used in gaming
applications, mobile handsets, even implemented on human body to analyze tremors and other physical
activities. A micro-electromechanical system (MEMS) is a technology that combines computers with tiny
mechanical devices such as sensors. However the safety, reliability and high price of some parts is the
obstacle the development of such systems. Use of gesture controlled robots in research labs can give a
boom to respective industry. Especially in Very Large Scale Integration (VLSI) departments, handling of
various micro components can be better done by these robots. This will make fabrication too easy. The

main aim of this paper is to give ideas about handling a robot using humans gestures that will be
beneficial for many fields like military, research, medical etc.

RECEIVER
TRANSMITTER

2.BLOCK DIAGRAM:The system consists of two parts: Transmitter part and receiver part. In transmitter part the hand
gesture is recognized by the sensor, output is transmitted to the controller and then transmitted to
receiver side by the transmitter. Fig. 1 shows the block diagram of the transmitter unit. The same data is
received at receiver side by the receiver. DC Motors which are interfaced to the controller by the motor
driver controls the direction of the robot.. Fig. 2 shows the block diagram of the receiver unit.
TRANSMITTER-

RECEIVER-

3. TECHNICAL REQUIREMENTS:HARDWARE DESCRIPTIONMicrocontroller

A microcontroller is a compact microcomputer designed to govern the operation of embedded systems in
motor vehicles, robots,. ATmega 16 microcontroller is used as the hardware platform. ATmega16 is an 8bit high performance microcontroller of Atmel's Mega AVR family with low power consumption. It is a

40 pin IC. It has its own Analog to Digital Converter (ADC).It is a 8 channel 10 bit ADC, mean 8 sensor
can be connected to it and 10 bits indicate resolution.

Accelerometer
An accelerometer measures gravitational force or acceleration. There are three axes that can be measured
by an accelerometer and they are labeled as X, Y and Z. In this project, only 2 axes namely X and Y are
used. The accelerometer used in this paper is ADXL335.In simulation software, due to unavailability of
ADXL335, two variable resistances are used.
Motor Driver
A motor driver IC is an integrated circuit chip which is usually used to control motors in autonomous
robots. The motor driver IC used in this paper is L293D.It is a 16 pin IC.
Motor
A DC motor converts direct current electrical power into mechanical power .In this paper two DC motors
are used of 500 RPM each.
LCD
LCD (Liquid Crystal Display) screen is an electronic display module. A 16x2 LCD is used in this paper,
means it can display 16 characters per line and there are 2 such lines. In this LCD each character is
displayed in 5x7 pixel matrix.
SOFTWARE USEDAVR STUDIO 4
Proteus ISIS Simulation Software
BeeProg USB Programmer

4.OVERALL DESIGN AND METHODOLOGY OF THE SYSTEMPROGRAMMING USED- Embedded C

SYSTEM CLOCK- 8MHZ
LCD DATA INTERFACING- 8 bit
This paper tells about the design of an accelerometer based hand gesture controlled robot with AVR
ATmega16 microcontroller. Here, the hand gestures are used as input signals to drive the robot in
required direction and also display the direction of movement of the robot on a 16X2 alphanumeric LCD.
Hand gestures mean tilt of hand in different direction. To detect different hand gestures, the ADXL335

accelerometer sensor is used. The sensor will be attached to hand. The three output signals of
accelerometer sensor are analog in nature and it cannot be processed directly by ATmega16
microcontroller. For this the ADC of ATmega32 microcontroller is used to convert the analog signals to
digital values. After converting the analog signals of accelerometer sensor to digital values, the
ATmega16 microcontroller will process the digital values to find different gestures of the hand. Once the
hand gesture is known, the ATmega16 microcontroller will send the required signal to the DC motor
driver (L293D) of the robot to drive the robot in the desired direction. Also, the microcontroller will
display the direction of movement of the robot in a 16X2 alphanumeric LCD. The control hand gestures
for the robot are forward tilt, backward tilt, left tilt, right tilt and no tilt to drive the robot in forward,
backward, left, right direction and to stop it respectively.

5.RESULTS-

The tests were conducted with two participants, and each one performed each gesture/posture multiple
times.Several results obtained with 91%-92% recognition rate.

Control Hand Gestures

Robot Direction

Forward Tilt

Forward

Left Tilt

Left

Right Tilt

Right

Backward Tilt

Backward

no Tilt

Stop

6.FUTURE AND CONCLUSIONThe growing demand for robot initiated programming platforms, a robotic system that allows users to
control an industrial robot using arm gestures and postures is proposed in this paper. A 3-axis
accelerometers were selected to be the input devices of this system. Compared with other common input
devices using accelerometers is easy to work, and providing the possibility to control a robot by wireless
means. Using this system, a non expert robot programmer can control a robot quickly and in a natural
way. Future work will build upon the improvement of the average of correctly recognized gestures. One
approach might be the implementation of Camera, so that a live streaming of video can be shown on any
device connected to the internet like mobile phones, laptop etc. The use of more accelerometers attached
to the arms and legs is another possibility.

7.REFERENCES1. Design and Implementation of a Wireless Gesture Controlled Robotic Arm with Vision, International Journal of
Computer Applications (0975 8887) Volume 79 No 13, October 2013, Love Aggarwal ,Varnika Gaur ,Puneet
Verma (B.Tech (ECE), GGSIPU)
2. Accelerometer-Based Control of an Industrial Robotic Arm,Pedro Neto, J. Norberto Pires, Member, IEEE, and A.
Paulo Moreira, Member, IEEE
3. Wikipedia, www.wikipedia.org
4. ABLab Solutions, www.ablab.in
5.Engineers Garage, www.engineersgarage.com

6.Electronics For You magazine, www.electronicsforyou.com