WIRELESS GESTURE CONTROLLED

ROBOT
Thesis submitted in partial fulfillment of the requirement for the award
of degree

BACHELOR OF TECHNOLOGY
by
Name of the student
1)Debanjan Sarkar

Roll no.
15800312007

Under the guidance

Mrs. Mousumi Karmakar

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
MALLABHUM INSTITUTE OF TECHNOLOGY
Braja Radha Nagar, P.O. - Gosaipur, P.S.-Bishnupur, Dist-Bankura
WEST BENGAL

Decleration
I hereby declare that the work presented in the thesis entitled as WIRELESS GESTURE
CONTROLLED ROBOT bonafied record of the systematic research work done by us under the
guidance of Mrs. Mousumi Karmakar, Department of Electronics and Communication Engineering,
Mallabhum Institute of Technology, Bishnupur, India and that no part thereof has been presented for
the award of other degree.

Place. Bishnupur

_________________

Date.

Debanjan Sarkar
Roll no.-15800312007

Department of Electronics and Communication Engineering

Mallabhum Institute of Technology, Bishnupur
Bankura, West Bengal, India 722122

Certificate
This is to certify that the thesis entitled WIRELESS GESTURE CONTROLLED ROBOT
by Debanjan Sarkar submitted to the Mallabhum Institute of Technology, Bishnupur for the
degree of Bachelor of Technology, is a record of bonafide research work, carried out by us in the
Department of Electronics and Communication Engineering under my supervision and guidance. I
believe that the thesis fulfill parts of the requirements for the award of degree of Bachelor of
Technology. To the best of my knowledge, the matter embodied in the thesis has not been
submitted to any other University/Institute for the award of any other degree.

Head of the Department

Department of Electronics and
Communication Engineering,
Mallabhum Institute of Technology,
Bishnupur , West Bengal
Bishnupur , West Bengal

Mrs. Mousumi Karmakar

Assistant Professor
Department of Electronics and
Communication Engineering,
Mallabhum Institute of Technology,

Place: MIT, Bishnupur

Date:

ii

Acknowledgement
I take this opportunity to express my sincere gratitude to the faculties of Electronics and
Communication Department, especially our mentor Mrs. Mousumi Karmakar for their noble
guidance during the seminar. We are indebted to them for their kind help and timely
encouragement in making this seminar work professionally stimulating and personally satisfying.

iii

Contents
Title page
Declaration
Certificate
Acknowledgement
List of symbols and abbreviations
List of Figures
List of Tables
Abstract
Introduction
Chapter 1
6

1.1. Theory
1.1.2. Accelerometer (ADXL335)

1.1.3. Comparator IC (LM324)

8
10
11

1.1.4. Encoder IC (PT 2262)

1.1.5. RF module (Rx/ Tx)
1.1.6. Decoder IC (PT2272)

12

1.1.7. Microcontroller (AT 89C51)

13

1.1.8. Motor Driver IC

14

1.1.9. DC motors

15

1.1.10. DC Gear motors

16

1.2. Working principle

1.2.1 Transmitter section
1.2.1.2. Theory

17

1.2.1.3. Circuit Diagram

1.2.2. Receiving section

18

1.2.2.2. Theory
1.2.2.3. Circuit diagram

19
20

Chapter 2
2. Microcontroller codes

21

Chapter 3
3. Output

24

Chapter 4
4.1. Feasibility of the project
4.1.1. Software
4.1.2. Hardware
4.1.3. Expanses

26
26
26

4.2. Application

28

4.3. Limitation

29

Conclusion and future scope

30

List of symbols and abbreviations

1) IC-Integrated Chip
2) RF-Radio Frequency
3) MCU-Micro Controller Unit
4) GND-Ground
5) Vcc-IC power supply pin
6) Ant-Antenna
7) Vss-Ground pin
8) Din-Data input
9) CPU-Central Processing Unit
10) ASK-Amplitude Shift Keying

List of Figures
Figure no.

Name

Page no.

Block Diagram

ADXL335 Accelerometer

LM324 IC

PT2262 IC

10

RF Transmitter

11

RF Receiver

11

PT2272 IC

12

AT 89C51 microcontroller

13

Crystal Oscillator

13

10

L293D IC

14

11

H-Bridge

14

12

DC Motor

15

13

DC Gear motor

16

14

Input and output of comparator IC

17

15

Transmitting circuit

18

16

ASK Modulation

19

17

Receiver circuit

20

18

Move Forward

24

19

Move Backward

24

20

Move Right

24

21

Move Left

24

22

Robot 1

25

23

Robot with hand assembly

25

List of Tables
Table no.

Table Name

Page no.

Pins description for

accelerometer
Pins description for LM324

Pins description for PT2262

10

11

Pins description for RF

Transmitter
Pins description for RF
Receiver
Pins description for PT2272

Accelerometer Orientation

25

Expanses

27

11
12

ABSTRACT
Gesture Controlled Car is a robot which can be controlled by simple human gestures. The user
just needs to wear a gesture device in which a sensor is included. The sensor will record the
movement of hand in a specific direction which will result in the motion of the robot in the
respective directions. The robot and the Gesture instrument are connected wirelessly through
radio waves. User can interact with the robot in a more friendly way due to the wireless
communication. We can control the car using accelerometer sensors connected to a hand glove.
The sensors are intended to replace the remote control that is generally used to run the car. It will
allow user to control the forward, backward, leftward and rightward movements, while using the
same accelerometer sensor to control the throttle of direction and the other pair to rotate in the
clockwise direction which makes the car to rotate about its own axis without any kind of forward
or backward motion. The main advantage of this mechanism is the car with this mechanism can
take sharp turn without any difficulty

INTRODUCTION
The robot is usually an electro-mechanical machine that can perform tasks automatically.
Some robots require some degree of guidance, which may be done using a remote control or
with a computer interface. Robots can be autonomous, semi-autonomous or remotely
controlled. Robots have evolved so much and are capable of mimicking humans that they
seem to have a mind of their own.
An important aspect of a successful robotic system is the Human-Machine interaction.
In the early years the only way to communicate with a robot was to program which required
extensive hard work. With the development in science and robotics, gesture based recognition
came into life. Gestures originate from any bodily motion or state but commonly originate
from the face or hand. Gesture recognition can be considered as a way for computer to
understand human body language. This has minimized the need for text interfaces and GUIs
(Graphical User Interface). Gesture recognition technologies are much younger in the world of
today. At this time there is much active research in the field and little in the way of publicly
available implementations.
Several approaches have been developed for sensing gestures and controlling robots.
Glove based technique is a well-known means of recognizing hand gestures. It utilizes a
sensor attached to a glove that directly measures hand movements.
A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures
and not the old fashioned way by using buttons. The user just needs to wear a small transmitting
device on his hand which includes a sensor which is an accelerometer in our case. Movement of
the hand in a specific direction will transmit a command to the robot which will then move in a
specific direction. The transmitting device includes a Comparator IC for assigning proper levels
to the input voltages from the accelerometer and an Encoder IC which is used to encode the four
bit data and then it will be transmitted by an RF Transmitter module.
At the receiving end an RF Receiver module will receive the encoded data and decode it by
using a decoder IC. This data is then processed by a microcontroller and passed onto a motor
driver to rotate the motors in a special configuration to make the robot move in the same
direction as that of the hand.

CHAPTER 1

1.1 THEORY
Gesture recognition technologies are much younger in the world of today. At this time there is
much active research in the field and little in the way of publicly available implementations.
Several approaches have been developed for sensing gestures and controlling robots. Glove based
technique is a well-known means of recognizing hand gestures. It utilizes a sensor attached to a
glove that directly measures hand movements.
A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not
the old fashioned way by using buttons. The user just needs to wear a small transmitting device on
his hand which includes a sensor which is an accelerometer in our case. Movement of the hand in
a specific direction will transmit a command to the robot which will then move in a specific
direction. The transmitting device includes a Comparator IC for assigning proper levels to the
input voltages from the accelerometer and an Encoder IC which is used to encode the four bit data
and then it will be transmitted by an RF Transmitter module.
At the receiving end an RF Receiver module will receive the encoded data and decode it by using
a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to
rotate the motors in a special configuration to make the robot move in the same direction as that
of the hand.

Accelerometer

Decoder

MCU

Comparator

RF Receiver

Motor Driver

Encoder

RF Transmitter

Motors

Figure 1. Block Diagram

1.1.2 ACCELEROMETER (ADXL335)

An Accelerometer is an electromechanical device that measures acceleration forces. These forces
may be static, like the constant force of gravity pulling at your feet, or they could be dynamic
caused by moving or vibrating the accelerometer. It is a kind of sensor which record acceleration
and gives an analog data while moving in X, Y, Z direction or may be X, Y direction only
depending on the type of the sensor.

Figure 2. ADXL335 Accelerometer

Table 1. Pin description for Accelerometer

PIN NO.

SYMBOL

FUNCTION

ST

Sets the sensitivity of the accelerometer

Records analog data for Z direction

Records analog data for Y direction

Records analog data for X direction

GND

Connected to ground for biasing

VCC

+3.3 volt is applied

1.1.3 COMPARATOR IC (LM324)

The comparator ic compares the analog voltage received from the accelerometer and compares it
with a reference voltage and gives a particular high or low voltage. The received signal is quite
noisy and of various voltage levels. This ic compares those levels and outputs in the form of 1 or
0 voltage level. This process is called signal conditioning.
The figure shown below is comparator IC. The pins 1, 7, 8 and 14 are output pins. A reference
voltage is connected to the negative terminal for high output when input is high or positive
terminal for high output when input is low from the LM324 IC.

Figure 3. LM324 IC

Table 2. Pin description for LM324

PIN NO.

SYMBOL

FUNCTION

Output 1

Output of 1stcomparator

Input 1-

Inverting input of 1st comparator

Input 1+

Non-Inverting input of 1st comparator

VCC

Supply voltage: 5V(up to 32V )

Input 2+

Non-Inverting input of 2nd comparator

Input 2-

Inverting input of 2nd comparator

Output 2

Output of 2nd comparator

Output 3

Output of 3rd comparator

Input 3-

Inverting input of 3rd comparator

10

Input 3+

Non-Inverting input of 3rd comparator

11

Ground

Ground(0V)

12

Input 4+

Non-Inverting input of 4th comparator

13

Input 4-

Inverting input of 4th comparator

14

Output 4

Output of 4th comparator

1.1.4. ENCODER IC (PT2262)

PT2262 is a remote control encoder paired with PT2272 utilizing CMOS technology. It encodes
data and address pins into serial coded waveform suitable for RF or IR modulation. PT2262 has

12

a maximum of 12 bits of tri-state address pins providing up to 3

address codes; thereby,
drastically reducing any code collision and unauthorized code scanning possibilities. The pin
description is shown below. It has 4 input while 1 output pin. The address pins can also be utilized
as data pins.
P

Figure 4. PT2262 IC
Table 3. Pin description for PT2262

PIN NO.

SYMBOL

FUNCTION

1-8

A0-A7

Address pins

Vss

Ground pin

13-10

D0-D3

Output pins

14

TE

Enables the transmission

15-16

Osc1-Osc2

Rosc of 470K ohm is connected

17

Dout

Output for transmission

18

Vcc

5V supply voltage

1.1.5 RF MODULE (Rx/Tx)

10

Radio frequency (RF) is a rate of oscillation in the range of about 3 KHz to 300 GHz, which
corresponds to the frequency of radio waves, and the alternating currents which carry radio
signals.
Although radio frequency is a rate of oscillation, the term "radio frequency" or its abbreviation
"RF" are also used as a synonym for radio i.e. to describe the use of wireless communication
as opposed to communication via electric wires
The RF module is working on the frequency of 315 MHz and has a range of 50-80 meters.

Figure 5. RF Transmitter

Figure 6. RF Receiver

Table 4. Pin description for RF Tx

PIN

FUNCTION

VCC

5V supply

GND

Ground pin

Data
Ant

Table 5. Pin description for RF Rx

Output to pin 14 of PT2272

for data transmission
A wire attached here works
as antenna

11

PIN

FUNCTION

VCC

5V supply

GND

Ground Pin

Data

Input from pin 17 of PT2262

for data transmission

Ant

A wire attached here works as

antenna

1.1.6. DECODER IC (PT 2272)

PT2272 is a remote control decoder paired with PT2262 utilizing CMOS Technology. It has 12

12

bits of tri-state address pins providing a maximum of 3

address codes; thereby, drastically
reducing any code collision and unauthorized code scanning possibilities. The input data is
decoded when no error or unmatched codes are found. It has 1 input while 4 output pins. The
address pins can also be utilized as data pins.
P

Figure 7. PT2272 IC
Table 6. Pin description for PT2272

PIN NO. SYMBOL

FUNCTION

1-8

A0-A7

Address pins

Vss

Ground pin

13-10

D0-D3

Output pins

14

Din

Input of RF

15-16

Osc1-Osc2

Rosc of 470K ohm is connected

17

VT

Indicates valid transmission

18

Vcc

5V supply voltage

12

1.1.7MICROCONTROLLER (AT89C51)
The processing is the most important part of the robot. Till now we get the data from the decoder.
Based on that data decisions have to be made. So here the role of microcontroller comes up. We
used a microcontroller for our robot to give it a decision capability. Our microcontroller is made
up by Atmel and the product name is AT89C51.
Port 1 works as an input port while Port 2 is working as output port for our program.

Figure 8. AT89C51 Microcontroller

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 connected in parallel with the oscillator to remove unwanted frequencies.

Figure 9. Crystal Oscillator

13

1.1.8 MOTOR DRIVER IC

It is also known as H-Bridge or Actuator IC. Actuators are those devices which actually gives the
movement to do a task like that of a motor. In the real world there are different types of motors
available which work on different voltages. So we need a motor driver for running them through
the controller.
The output from the microcontroller is a low current signal. The motor driver amplifies that
current which can control and drive a motor. In most cases, a transistor can act as a switch and
perform this task which drives the motor in a single direction.

Figure 10. L293D IC

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 where transistors are arranged in a shape that resembles
the English alphabet "H".

As seen in the image, the circuit has four switches A, B, C and D. Turning these switches ON
and OFF can drive a motor in different ways.

When switches A and D are on, motor rotates clockwise.

When B and C are on, the motor rotates anti-clockwise.
When A and B are on, the motor will stop.
Turning off all the switches gives the motor a free wheel drive.
Turning off on A & C at the same time or B & D at the same time shorts the entire circuit.

14

1.1.9 DC MOTORS
A machine that converts DC power into mechanical power is known as a DC motor. Its operation
is based on the principle that when a current carrying conductor is placed in a magnetic field, the
conductor experiences a mechanical force.
DC motors have a revolving armature winding but non-revolving armature magnetic field and a
stationary field winding or permanent magnet. Different connections of the field and armature
winding provide different speed/torque regulation features. The speed of a DC motor can be
controlled by changing the voltage applied to the armature or by changing the field current.

Figure 12. DC Motor

15

1.1.10 DC GEAR MOTOR

A geared DC Motor has a gear assembly devoted to the motor. The speed of motor is counted in
terms of rotations of the shaft per minute and is termed as RPM .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 increasing the quantity of applied torque is a
important feature of the reduction gear trains found in a gear motor. The decrease in speed is
inversely relative to the increase in torque. This association means that, in this sort of device, if
the torque were to double, the speed would decrease by one half. Small electric motors, such as
the gear motor, are able to move and stand very heavy loads because of these reduction gear
trains. While the speed and ability of larger motors is greater, small electric motors are sufficient
to bear these loads.

Figure13. DC Gear Motor

16

1.2.1. TRANSMITTER SECTION

1.2.1.2. THEORY
The accelerometer records the hand movements in the X and Y directions only and outputs
constant analog voltage levels. These voltages are fed to the comparator IC which compares it
with the references voltages that we have set via variable resistors attached to the IC. The
levels that we have set are 1.7V and 1.4V. Every voltage generated by the accelerometer is
compared with these and an analog 1 or 0 signal is given out by the comparator IC.

Fig 14. Input and Output of Comparator IC

This analog signal is the input to the encoder IC. The input to the encoder is parallel while the
output is a serial coded waveform which is suitable for RF transmission. A push button is
attached to pin 14 of this IC which is the Transmission 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 in the
amplitude of a carrier wave.

17

1.2.1.3. CIRCUIT DIAGRAM

Fig 15. Transmitting Circuit

18

1.2.2. RECIEVER SECTION

1.2.2.2. THEORY
This transmitted signal is received by the RF receiver, demodulated and then passed onto the
decoder IC. The decoder IC decodes the coded waveform and the original data bits are
recovered. The input is a serial coded modulated waveform while the 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.The parallel data from the encoder is fed to the port 1of the microcontroller.
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 and outputs on the basis
of these bits. Port 2 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 special 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 enough to burn out the motor coil windings. To prevent this, fly back diodes are
used. They prevent the back emf from increasing and damaging the motors.
The following figure shows the modulated output of the RF module:

Fig16. ASK Modulation

The RF modules works on the frequency of 315MHz. It means that the carrier frequency of the
RF module is 315MHz. The RF module enables the user to control the robot wirelessly.

19

1.2.2.3. CIRCUIT DIAGRAM

Fig 17. Receiving Circuit

20

CHAPTER 2

2. MICROCONTROLLER CODES
;;;;;;;;;gesture based robot;;;;;;;;;;
Org 00h
mov p1,#offh
movp2,#00h
start:mov a,p1
anl a,#0fh
;;;;;;;;;;;For stopping;;;;;;;;;;;;;
Cjne a,#0ch,nxt
Clr p2.0
Clr p2.1
Clr p2.2
Clr p2.3
;;;;;;;;;;;;For moving forward;;;;;;;;
nxt:cjne a,#08h,nxt1
setb p2.0
setb p2.2
Clr p2.1
Clr p2.3
;;;;;;;;;;;For reverse;;;;;;;;;;;;;;
nxt 1:cjne a,#04,nxt2
setb p2.3
setb p2.1
clr p2.2
clr p2.0
21

;;;;;;;;;;;;;For Turning Left;;;;;;;;;;;;;

nxt2:cjne a,30eh,nxt3
setb p2.0
setb p2.3
clr p2.1
clr p2.2
;;;;;;;;;;;;;For Turning Right;;;;;;;;;;;;;;;;;
nxt3:cjne a,#0dh,nxt4
setb p2.1
setb p2.2
clr p2.0
clr p2.3
nxt4:sjmp start
end

22

CHAPTER 3

3. OUTPUT
We achieved our objective without any hurdles i.e. the control of a robot using gestures. The robot
is showing proper responses whenever we move our hand. Different Hand gestures to make the
robot move in specific directions are as follow:

Figure 18. Move Forward

Figure 19. Move Backward

Figure 20. Move Right

Figure 21. Move Left

The robot only moves when the accelerometer is moved in a specific direction. The
valid movements are as follows:
Table 7. Accelerometer orientation
DIRECTION

ACCELEROMETER ORIENTATION

Forward

+y

Backward

-y

Right

+x

Left

-x

Stop

Rest

24

my finished product can be seen in the images below:

Figure 22. Robot 1

Figure 23.Robot with hand assembly

25

CHAPTER 4

4.1. FEASIABILITY OF THE PROJECT

During the development of the project we researched the feasibility in different fields, especially
software and hardware. The feasibility study is shown below.

4.1.1 SOFTWARE
We targeted to choose a language that is easy to understand and program. So we chose assembly
language for our project. Assembly language is the basic language of microcontrollers. Although
its not user friendly in terms of programming but still one can learn it quickly.

4.1.2 HARDWARE
We chose accelerometer as the sensing device because it records even the minute movements.
We could also have completed our project using Arduino but chose microcontroller instead
because its cost is low and is easily available everywhere. There are a number of dc geared
motors available but the ones we chose are capable of supporting loads up to 6kgs.

4.1.3 EXPENSES
This project is quite cost effective. The components used are easily available in the market apart
from accelerometer, RF modules and the motors. These components are quite cheap as compared
to the motors which are the only expensive part in our whole project. But these particular motors
are capable of providing support to loads up to 6kgs which is what we wanted.

26

Table 8. Expenses

S. NO

COMPONENT

AMOUNT RATE ( )

COST ( )

AN7805 Voltage regulator

15

30

LF33CV Voltage regulator

30

30

1uF Capacitor

10

Accelerometer (ADXL335)

159

159

Comparator IC (LM324)

25

25

10K Variable Resistor

Encoder IC (PT2262)

200

200

470K ohm Resistor

RF Module (Rx/Tx)

199

199

10

LED

11

330 ohm Resistor

12

Decoder IC (PT2272)

200

200

13

Microcontroller (AT89C51)

85

85

14

Crystal Oscillator (11.0592 MHz)

10

10

15

33pF Capacitor

16

Motor Driver IC (L293D)

110

110

17

1N4007 Diode

18

9V

20

40

19

DC Gear Motors

169

338

20

Base

300

Total

1756
27

4.2. APPLICATION
Gesture control can be used in different areas such as in healthcare field that is wheelchair
control for handicapped patients and also for controlling hospital beds.
It can also be used in industrial section such as controlling the robotic arm with our gesture
instead of using the joystick or any other controlling device. We can also control humanoid robot
using hand gesture

28

4.3. LIMITATION
The on-board batteries occupy a lot of space and are also quite heavy.
Secondly, as we are using RF for wireless transmission, the range is quite limited; nearly 5080m.
Thirdly, an on-board camera can be installed for monitoring the robot from faraway places. All
we need is a wireless camera which will broadcast and a receiver module which will provide live
streaming.

29

Conclusion and Future Scope

The aim of our project is to construct a Accelerometer based Gesture Controlled Robot. As its
name implies it is an efficient circuit (robot),which can be moved in any direction by
making simple Gestures, and the systems sensitivity to Gestures can be easily adjusted a per our
liking. We have successfully completed our project. Finally, we conclude that Accelerometer
Based Gesture Controlled Robot is very cheap and simple with wide applications as mentioned
before.
Wireless modules consume very low power and are best suited for wireless, battery driven
devices. Advanced robotic arms that are designed like the human hand itself can easily
controlled using hand gestures only. Proposed utility in fields of Construction, Hazardous waste,
Disposal, Medical Science, Combination of Heads Up display, Wired Gloves, Haptictactile
sensors, Omni directional Tread mills may produce a feel of physical places during simulated
environments. VR simulation may prove to be crucial for Military, LAW, Enforcement and
Medical Surgeries.

30

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