HUMANOID

(Design & Implementation of human computer interaction using hand gesture and recognition)
By Vibha Chauhan Saurabha Bhole Priyanka Kumbhare Aniket Chaudhari (ETC 8th semester)

Guided By Prof. Rangankar

EN/EC Department

J D College of engineering, Nagpur

INTRODUCTION
Gestures communicate the meaning of statement said by human being.

Gesture based interface offers a way to enable untrained users to interact with robots more easily and efficiently.

To realize a symbiotic relationship between human and robot, it is crucial to establish human-robot natural interaction. Research in robotics focused on building robots that can be used by ordinary people in their homes, their workplaces, and in public spaces such as hospitals and museums.

Problem Definition

Designing a system for human computer interaction that will interact with human by the way of Hand postures.

Human Computer Interaction

Humancomputer interaction (HCI) is the study of interaction between people (users) and computers.

Gesture Recognition

Gesture recognition is a topic in computer science and language technology with the goal of interpreting human gestures via mathematical algorithms. Gestures can originate from any bodily motion or state but commonly originate from the face or hand.

Machine Vision

Artificial systems that extract information from images. Images data that can take many forms # video sequences # views from multiple cameras

Execution Idea

Main Modules

Video Capturing

Image Processing

Pixel Extraction

Color Detection

Hardware Controlling

Image Processing
Image acquisition
Image acquisition involves illuminating a work piece and digitally scanning its image.

Preprocessing
The digital signal represents light intensity values over the entire image. These values are stored in the memory, which allows the digital image to be analysed and interpreted.

Analysis
During image analysis, information from the image is gathered and analysed by computer software.

Interpretation
The goal of a machine vision system is image interpretation, which enables a robot to make decisions about the tasks that must be performed.

Proposed Architecture

Methodology to be employed

Image Processing & Pixel Extraction (flow chart)

Interfacing with Computer

An interface is the common point at which two or more systems communicate with each other.
.

A robot must be equipped with I/O ports (input/output) to communicate with other systems.

Common I/O ports include digital input ports, digital output ports, serial ports, and parallel ports

We have used a parallel port DB25 as the interfacing unit between computer and our robot.

The primary use of parallel port is to connect printers with computers

As the name refers, data is transferred over data lines. Control lines are used to control the peripheral and of course, the peripheral returns status signals back to the computer through the Status lines.
These registers are virtually connected to the corresponding lines. So whatever you write to these registers, will appear in the corresponding lines as voltages . Ports can be easily accessed by sending the particular line address along with the pin number.

The lines in DB25 connector are divided in to three groups: 1) Data lines (data bus) 2) Control lines 3) Status lines The registers found in standard parallel port are: 1) data register 2) Status register 3) Control register

Parallel port
DB25

Port Data Lines Control Lines

Address (Decimal) 888 890

Address (Hex) 378h 37Ah

Status Lines

889

379h

Motor Control
Parity changer

Motors
M1

A B C D

R
A

R
B

M2

R
C

M3

M4
D

There are instructions vbInp and vbOut. vbOut is a statement and is used to send a bit to a port, like the following

vbOut [port],[number]

For Eg. set port to 00000000 vbOut 888, 0 set port to 10000000 vbOut 888, 1 set port to 00010000 vbOut 888, 8

Continues.

Continues.

Whenever a control signal from the robots computer program is at a low voltage level, the base of transistor Q1 does not conduct. The output current flows from the emitter to the collector . When the base is at a low voltage level, the output current is zero and the circuit is high resistance. The motor control relay (CR) is not energized and the motor is OFF.

When the computer sends a high-level signal to the base of transistor Q1, the current flow from the emitter to the collector is at maximum. The resistance between the emitter and collector is now very low. In this condition, the control relay is energized and the motor is turned ON.

INTERFACING N CONNECTORS
It consist of 8 data pins but only six pins are used

MOTION
FORWARD BACKWARD LEFT TURN RIGHT TURN

OUTPUT FROM PORTS 010100 111100 110100 011100

COMMENTS Both motors clockwise Both motors anticlockwise Left anticlockwise Right clockwise Right anticlockwise left clockwise

SCANNING LINE ALGORITHM

Eg. Backward movement

7 NA

6 NA

5 1

4 1

3 1

2 1

1 0

0 0

bit val

APPLICATIONS
For entertainment purpose Other applications In Medical Field
In Hall President at Walt Disney world theme Park , Florida , America, there are HCI robots which mimic the different presidents of America till now. Both the handgesture recognition and robotic nurse innovations might help to reduce the length of surgeries and the potential for infection.
These can be used as receptionists at the door for showing the path. These can be used in Tele-operations.

CONCLUSION
Different applications of hand gesture recognition have been implemented in different domains from simple inputs to critical applications. Hand gesture recognitions is the way to interact with vision enabled computers and other machines.

This project primarily focused on the study of work done in the area of hand gesture recognition using single camera. Our robot identifies the action in very fine way.

In the future we will try to inculcate voice recognition system and extend our part of machine learning.