International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 08 Issue: 04 | Apr 2021 www.irjet.net p-ISSN: 2395-0072

WIRELESS GESTURE CONTROLLED ROBOT

R.DHARMAPRAKASH, S.SANDHIYA, J. JANANI, P. PRIYANKA , C. SINDHUJA

1Professor, Department of EEE,
2, 3, 4,5 UG Students, Department of EEE,

Panimalar Institute of Technology, Chennai, India

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Abstract - Gesture Controlled Robot is a robot which can be make a device which would help such people drive
controlled by simple gestures. The user just needs to wear a their chairs without even having the need to touch the
gesture device which includes a sensor. The sensor will wheels of their chairs. Our objective is to make this
record the movement of hand in a specific direction which
device simple and cheap so that it could be mass
will result in the movement of the robot in the respective
produced and can be used for number of purposes.
direction. The robot and the gesture device are connected
wirelessly via radio waves. The wireless communication GESTURE CONTROLLED ROBOT
enables the user to interact with the robot in a more friendly
way. Gesture recognition technologies are much
younger in the world of today. At this time, there is
1. INTRODUCTION
much active research in the field and little in the way of
Recently, strong efforts have been carried out to
publicly available implementations. Several approaches
develop intelligent and natural interfaces between
have been developed for sensing gestures and
users and computer based systems based on human
controlling robots. Glove based technique is a well-
gestures. Gestures provide an intuitive interface to
known means of recognizing hand gestures. It utilizes a
both human and computer. Thus, such gesture-based
sensor attached to a glove that directly measures hand
interfaces can not only substitute the common
movements. A gesture controlled robot is a kind of
interface devices, but can also be exploited to extend
robot which can be controlled by hand gestures and
their functionality. A Robot is usually an electro-
not the old fashioned way by using buttons. The user
mechanical machine that can perform tasks
just needs to wear a small transmitting device on his
automatically. Some robots require some degree of
hand which includes a sensor which is an
guidance, which may be done using a remote control or
accelerometer in our case. Movement of the hand in a
with a computer interface. Robots can be autonomous
specific direction will transmit a command to the robot
or remotely controlled. An important aspect of a
which will then move in a specific direction. The
successful robotic system is the Human-Machine
transmitting device includes [4]a comparator IC for
interaction.[3] In the early years the only way to
assigning proper levels to the input voltages from the
communicate with a robot was to program which
accelerometer and an Encoder IC which is used to
required extensive hard work. With the development
encode the four bit data and then it will be transmitted
in science and robotics, gesture based recognition came
by an RF transmitter module.
into life. A Gesture is an action that has to be seen by
someone else and has to convey some piece of At the receiving end an RF Receiver module will
information. Gesture is usually considered as a receive the encoded data and decode it by using a
movement of part of the body to express an idea or decoder IC. This data is then processed by a
meaning. Our motivation to work on this project came microcontroller and passed onto a[5] motor driver to
from a disabled person who was driving his wheel rotate the motors in a specific configuration to make
chair by hand with quite difficulty. So we wanted to

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the robot move in the same direction as that of the resulting from motion, shock, or vibration. An
hand. accelerometer is an electro mechanical device that
measures acceleration forces. These forces may be
Applications of GC Robot: static or dynamic. It is a kind of sensor which
record acceleration and gives an analog data while
 Through the use of gesture recognition, remote moving in X, Y, Z direction or may be X, Y direction
control with the wave of a hand of various only depending on type of the sensor.
devices is possible.
 Gesture controlling is very helpful for
handicapped and physically disabled people to
achieve certain tasks, such as driving a vehicle.
 Gestures can be used to control interaction for
entertainment purposes such as gaming to
make the game player’s experience more
interactive or immersive.

2. LITERATURE REVIEW

1) Prajwal Ashwin Jawalekar has developed a

gesture controlled robot which is controlled
by human gestures. The features of the project
have been explained in the paper “ROBOT
CONTROL BY USING HUMAN HAND
GESTURES”[7] which is proposed in the
conference held in 2018. He used
accelerometer, Arduino, Motor Driver, RF
Transmitter and Receiver in his project.
2) Altaf Ganihar has developed an android based Comparator IC LM324
wireless gesture controlled robot and has
explained its features in the paper “Android The LM324 [6]operational amplifier IC can be
based wireless gesture controlled robot” worked as a comparator. This IC has 4 independent
and published it in the IEEE conference held in operational amplifiers on a single chip. This a Low
the year 2014. Power Quad Operational Amplifier and it has high
stability, bandwidth which was designed to operate
3. HARDWARE DESCRIPTION: from a single power supply over a wide range of
The major components in this project are voltages. The quad amplifier can operate at supply
accelerometer, RF Transmitter and Receiver, voltages as low as 3.0 V or as high as 3.2 V with
Arduino, Encoder and Decoder, Motor driver, Dc quiescent currents about one fifth of those
motor. associated with the MC174.

Accelerometer:

The ADXL335 is a small, low power,

complete 3-axis accelerometer[8] with signal
conditioned voltage outputs. It can measure the
static acceleration of gravity in tilt-sensing
applications, as well as dynamic acceleration

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DECODER IC (PT2272)

PT2272 is a remote control decoder paired with

PT2262 utilizing CMOS [10]Technology. It has 12-bit of
ENCODER IC PT2262 tri-state address pins providing a maximum of 531,441
(or 312) address codes; thereby, drastically reducing
PT2262 is a remote control encoder paired any code collision and unauthorized code scanning
with PT2272 utilizing CMOS Technology. It encodes possibilities. PT2272 is available in several options to
data and address pins into a serial coded waveform suit every application need: variable number of data
suitable for RF or IR modulation. PT2262 [9]has a output pins, latch or momentary output type.
maximum of 12 bits of tri-state address pins providing
up to 531,441 (or 312) address codes; thereby, MICRO CONTROLLER (AT89C51)
drastically reducing any code collision and
unauthorized code scanning possibilities.

The AT89C51 is an age old 8-bit

microcontroller from the Atmel family. It works with
RF MODULE (Rx/Tx)
the popular 8051 architecture and hence is used by
Radio frequency is a rate of oscillation in the most beginners till date. It is a 40 pin IC package with
range of about 3Khz to 300 Ghz, which corresponds to 4Kb flash memory. It has four ports and all together
the frequency of radio waves, and the alternating provide 32 Programmable GPIO pins. It does not have
currents which carry radio signals. Although radio in-built ADC module and supports only USART
frequency is a rate of oscillation, the term “radio communication. Although it can be interfaced with
frequency” or its abbreviation RF are also used as a external ADC IC like the ADC084 or the ADC0808
synonym for radio as opposed to communication via
electric wires.

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where transistors are arranged in a shape that

resembles the English alphabet “H”.

A crystal oscillator is attached to the pins 18

and 19 of the microcontroller. The oscillator creates an
electrical signal of a very precise frequency which is
used to keep track of time. Two capacitors are
As seen in the image, the
connected in parallel with the oscillator to remove
circuit has four switches A, B, C and D. Turning these
unwanted frequencies.
switches ON and OFF can drive a motor in different
MOTOR DRIVERS (L293D): ways.

The L293D is a popular 16-Pin Motor Driver  When switches A and D are ON, motor rotates
IC. As the name suggests it is mainly used to drive clockwise.
motors. A single L293D IC[11] is capable of running  When B and C are ON, the motor rotates anti-
two DC motors at the same time; also the direction of clockwise.
these two motors can be controlled independently. So  When A and B are ON, the motor will stop.
if you have motors which has operating voltage less  Turning OFF all the switches gives the motor a
than 36V and operating current less than 600mA, free wheel drive.
which are to be controlled by digital circuits like Op-  Turning ON A and C at the same time shorts the
Amp, 555 timers, digital gates or even Micron rollers entire circuit. So, never try to do it.
like Arduino, PIC, ARM etc.. this IC will be the right
choice for you. DC MOTORS:

A DC motor is any of a class of rotary electrical

motors that converts direct current electrical energy
into mechanical energy. The most common types rely
on the forces produced by magnetic fields. Nearly all
types of DC motors have some internal mechanism,
either electromechanical or electronic, to periodically
change the direction of current in part of the motor.

Turning a motor ON and OFF requires only one

switch to control a single motor in a single direction.
We can reverse the direction of the motor by simply
reversing its polarity. This can be achieved by using
four switches that are arranged in an intelligent
manner such that the circuit not only drives the motor,
but also controls its direction. Out of many, one of the
most common and clever design is a H-bridge circuit
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DC motors were the first form of motor widely used, as BLOCK DIAGRAM
they could be powered from existing direct-current
lighting power distribution systems. A DC motor's
speed can be controlled over a wide range, using either
a variable supply voltage or by changing the strength of
current in its field windings. Small DC motors are used
in tools, toys, and appliances. The universal motor can
operate on direct current but is a
lightweight brushed motor used for portable power
tools and appliances. Larger DC motors are currently
used in propulsion of electric vehicles, elevator and
hoists, and in drives for steel rolling mills. The advent
of power electronics has made replacement of DC
motors with AC motors possible in many applications.
DC GEAR MOTOR:
4. IMPLEMENTATION
A gear motor is an all-in-one combination of a
motor and gearbox. The addition of a gear head to a The accelerometer records the hand
motor reduces the speed while increasing the torque movements in the X and Y directions only and the
output. The most important parameters in regards to outputs constant analog voltage levels. These voltages
gear motors are speed (rpm), torque (lb-in) and are fed to the comparator IC which compares it with
efficiency (%). In order to select the most suitable gear
motor for your application you must first compute the the references voltages that we have set via variable
load, speed and torque requirements for your resistors attached to the IC. The levels that we have set
application. ISL Products offers a variety of Spur Gear are 1.7V and 1.4V. Every voltage generated by the
Motors, Planetary Gear Motors and Worm Gear accelerometer is compared with these and an analog 1
Motors to meet all application requirements. Most of or 0 signals is given out by the comparator IC.
our DC motors can be complimented with one of our
unique gearheads, providing you with a highly efficient
gear motor solution. The speed of the motor is counted
in terms of rotations of the shaft per minute and it is
termed as RPM[12]. The gear assembly helps in
increasing the torque and dropping the speed. Using
the correct arrangement of gears in a gear motor, its
speed can be reduced to any required figure. This
concept of reducing the speed with the help of gears
and increasing the torque is known as gear reduction.
Reducing the speed put out by the motor while The analog signal is the input to the encoder IC.
increasing the quantity of applied torque is a important
The input to the encoder is parallel while the output is
feature of the reduction gear trains found in a gear
motor. The decrease in speed is inversely relative to a serial coded waveform which is suitable for RF
the increase in torque. Transmission. A push button is attached to pin 14 of
this IC which is the Tansmission Enable(TE) pin. The
coded data will be passed onto the RF module only
when the button is pressed. This button makes sure no
data is transmitted unless we want to. The RF
transmitter modulates the input signal using
Amplitude Shift Keying(ASK) modulation. It is the form
of modulation that represents digital data as variations

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in the amplitude of a carrier wave. The following figure The parallel data from the encoder is fed to the
shows the modulated output of the RF module: port1 of the mirocontroller. This data is in the form of
bits. The microcontroller reads these bits and takes
decisions on the basis of these bits. What the
microcontroller does is, it compares the input bits with
the coded bits which are burnt into the program
memory of the microcontroller is used as the output
port. Output bits from this port are forwarded to the
motor driver IC which drives the motors in a specific
configuration based on the hand movements.

At a dead stop, a motor produces no voltage. If a

voltage is applied and the motor begins to spin, it will
act as a generator that will produce a voltage that
opposes the external voltage applied to it. This is called
Counter Electromotive Force (CEF) or Back
Electromotive Force (Back EMF). If a load stops the
motors from moving then the current may be high
The RF module works on the frequency of 315
enough to burn out the motor coil windings. To prevent
Mhz. It means that the carrier frequency of the RF
this, flyback diodes are used. They prevent the back
module is 315Mhz. The RF module enables the user to
emf from increasing and damaging the motors.
control the robot wirelessly and with ease.
The schematic of receiving end can be seen below:

The transmitted signal is received by the RF 5. SIMULATION

receiver, demodulated and then passed onto the
decoder IC. The decoder IC decodes the coded We performed a simulation of our project in
waveform and the original data bits are recovered. The PROTEUS and the code was written in C language using
input is a serial coded modulated waveform while the KEIL MICROVISION.
output is parallel. The pin 17 of the decoder IC is the
Valid Transmission(VT) pin. A led can be connected to
this pin which will indicate the status of the
transmission. In the case of a successful transmission,
the LED will blink.

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7.REFERENCES

1) Altaf Ganihar, Shreyas Joshi, G Rahul, Rohini Hongal,

Uma Mudenagudi “Android based wireless gesture
controlled robot” published in 2014 International
Conference on Advances in Electronics Computers
and Communications

2) Prajwal Ashwin Jawalekar “ROBOT CONTROL BY

USING HUMAN HAND GESTURES” published in
6.CONCLUSION: International Research Journal of Engineering and
Technology (IRJET) in the year 2018
We achieced our objective without any hurdles.
The robot is showing proper responses whenever we
3) P.S. Ramapraba And H.Ranganathan – “Colour
move our hand. Different hand gestures to make the
Histogram Based Colposcopy Cervical Image
robot move in specific directions are:
Classification" Will Be Published In Volume 4 : Issue 1
Of International Journal Of Advances In Computer
Science And Its Applications – Ijcsia Issn 2250 – 3765

4) P.S. Ramapraba And H.Ranganathan - “Texture Based

Analysis And Contour Detection Of Cervical Smear
Image” - International Journal On Intelligent Electronic
Systems, Vol. 5, No.1, January 2011 Pp50-54 Issn
0973-9238

5) V.Maheswari , P.Elangovan , M.Baranidharan ,

S.Deepa, Lavanya Dhanesh,(2019) “Theoretical And
Simulation Analysis Of First Generation Dc-Dc
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6) Dr.S.Deepa,Lavanya Dhanesh , P.Elangovan,(2019),

“Optimal Fuzzy Controller For Power Quality
Improvement Of Dynamic Voltage Restorer Using
Bacterial Foraging Algorithm”, “ International Journal
Of Advanced Science And Technology” Vol. 28, No. 19,
(2019), Pp. 10-15

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 08 Issue: 04 | Apr 2021 www.irjet.net p-ISSN: 2395-0072

7) Lavanya Dhanesh, Dr.P.Murugesan (2017)

“Smart Scheduling Of The Real-Time Tasks Using The
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Technique Using Flying Capacitor Based Z Source
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