Abstract

Hand Gesture Recognition sensor based on accelerometer and gyroscope is a sensor for capturing the positions of operator hand while controlling underwater remotely operated vehicle equipped with an arm. The proposed system has an advantage in its convenience by means of no training or exercise needed for operator before using it. The key issue here is how beginner operator could use easily the underwater remotely operated robot arm without any specific training. The conventional one uses a joystick for controlling the underwater system and it is inconvenience for beginner user as well as less precision. The proposed system consists of two main part: (1) ground station and (2) underwater remotely operated robot arm. This paper proposes the development of hand gesture recognition sensor used by operator at the ground station for controlling robot arm at the underwater robot. The proposed sensor uses accelerometers and gyroscopes installed in elbow, forearm, and wrist. These devices measure 3D position of each joints for constructing 3D position of hand. We design sensor's casing for its convenience of use by using CAD software. Each sensor is connected by Arduino Nano microcontroller having compact circuit and embedded it into sensor's casing. The sensors are connected to a microcontroller acting as master connected to microcontroller slave (sensor part). These sensors value are converted to 3D position by using forward kinematic. The forward kinematic values are sent to the underwater robot by using a wire utilizing Pulse Position Signal. Then, it converted again to servo's movement by using inverse kinematic. The result is operator able to control the underwater remotely robot arm by utilizing hand gesture directly. The last, operator could control the robot gripper based on flex sensor installed in operator's fingers. The accuracy of the sensor has been tested under laboratory condition, it has 98% of accuracy.

Original languageEnglish
Title of host publication2017 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationStrengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages329-333
Number of pages5
ISBN (Electronic)9781538627068
DOIs
Publication statusPublished - 28 Nov 2017
Event18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017 - Surabaya, Indonesia
Duration: 28 Aug 201729 Aug 2017

Publication series

Name2017 International Seminar on Intelligent Technology and Its Application: Strengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
Volume2017-January

Conference

Conference18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period28/08/1729/08/17

Keywords

  • 3D position
  • Accelerometer
  • Forward kinematic
  • Gyroscope
  • Hand gesture
  • Underwater robot

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