WIRELESS GESTURE

CONTROLLED
ROBOT
( Gesture Controlled Car )

TITLE AND CONTENT LAYOUT WITH

LIST
Add your first bullet point here
Add your second bullet point here
Add your third bullet point here

ACKNOWLEDGEMENT
We would like to acknowledge our Teachers and Parents , who supported us
morally, technically and financially.
Especially our supervisor
T. Venkatesh
Rama Kovour
Sita R Shastry
who helped us at every step in the making of our project, helped us in the
clarification of our queries related to our project and technical problems. Also
our special thanks to all class fellows, who helped us in clarification of any
issue as well as implementation and in documentation and making this project
distinct reality.

ABSTRACT
This PowerPoint presents a model for gesture controlled user interface
(GCUI),and identifies trends in technology ,application and usability. We present
an integrated approach in real time detections ,gesture based data which
control vehicle movement and manipulation on gesture of the user using hand
movements. A three axis accelerometer is adaption. As the person moves their
hand, the accelerometer also moves accordingly. The gesture is capture by
accelerometer and processed by gesture. Today human machine interactions is
moving away from mouse and pen and is becoming pervasive and much mouse
compatible with the physical world . With each passing day the gap between
machines and human is being reduced with the introduction of new technology
is easy the standard of living. Its having future scope of advanced robotic arms
that are designed like the human hand itself can easily controlled using hand
gesture only. It also having proposed utility in field of construction, medical
science, hazardous waste disposal etc.

PREFACE
Introduction

Transmitter

Design Proposal

IC HT12E

Components Used

Accelerometer ADXL335

Freeduino ( ATmega8 )

IC HT12D

ATmega8

WS TX 01 & WS RX 02

FT 232 RL

Working

Crystal ( 16MHz )

Construction & Execution

Conclusion

INTRODUCTION
In the existing system, human hand movements are sensed by the robot through
sensors and it follow the same. As the person moves their hand, the accelerometer
also moves accordingly sensor displaces and this sensor senses the parameter
according to the position of hand. In this system, a gesture driven robotic vehicle is
developed, in which the vehicle movements and manipulations i.e., handling and
control is depends on the gesture of the user. In this system, gesture is captured by
accelerometer and it is processed by software namely, microcontroller software
and the parameters are sent to microcontroller and encoder circuit, It is further
transmitted (transmitter section) by RF433 MHZ transmitter. In the receiver
section, the RF 433 MHZ receiver holds down the received parameters and process
with microcontroller and gives those parameters to the robotic vehicle so that it act
accordingly to the gesture. By this system, it is possible to achieve processing of
long distance. This system is knowingly developed to apply in medical field for
nursing assistance to physicians and in surgeries.

BLOCK DIAGRAM
Task was divided into two parts to make the task easy and simple and to
avoid complexity and make it error free.
The first is the transmitting section which includes the following components:
Accelerometer, encoder IC, RF Transmitter Module.
The second is the receiving end which comprises of following main
components:
RF Receiver Module, Decoder IC, Microcontroller, Motor Driver IC, DC Motors.

COMPONENTS USED
Freeduino ( MC ATMega 8 )
RF Receiver ( WS-RX-02 )
Motor Driver ( L293D )

Encoder ( IC HT12E )
Decoder ( IC HT12D )

Gesture Bot Shield

DC BO motor ( Battery
Operation )

Transmitter ( WS-TX-01 )

Acrylic Chassis Set

Accelerometer ( ADXL 335 )

9V Battery
Connecting Wire ( Multistand )

EXPLAINING
THE
COMPONENT
S

Technology is a useful
servant but a
dangerous master.
Christian Lous Lange

FREEDUINO The Motherboard Of This

FREEDUINO ( MC ATMEGA 8 )
( A PROTOTYPE OF ARDUINO UNO R1 )

Arduino is an open source embedded development platform

consisting of a Simple development board based on Atmels
AVR microcontroller and an easy to use development
environment for writing, compiling and uploading codes to
the board.
Freeduino USB is a Arduino compatible board, which is
compatible with all Arduino development tools, softwares,
codes etc. Freeduino USB comes with only the bare
essentials present on an Arduino board that is required for
getting started. It contains everything that is required for
programming a microcontroller and omits all extra features
to keep it simple and cost effective.

FREEDUINO
UNO
( ARDUINO COMPATIBLE )

ATMega 8

IC 1313

Voltage Regulator 5V ( 78M05 )

14 Digital Pins

6 Analog Pins

16 MHz Crystal

Tx , Rx Led

ISCP Pins

Regulator 3.3 V

Reset Button

FREEDUINO SCHEMATIC

MICROCONTROLLER : ATMEGA 8
The Atmel AVR Atmega8 is low-powered CMOS 8-bit Microcontroller
based on the AVR RISC architecture. By executing powerful
instructions in a single clock cycle, the ATmega8 achieves
throughputs approaching 1MIPS per MHz, allowing the system
designer to optimize power consumption versus processing speed.
The AtmelAVR core combines a rich instruction set with 32
general purpose working registers. All the 32 registers are directly
connected to the Arithmetic Logic Unit (ALU), allowing two
independent registers to be accessed in one single instruction
executed in one clock cycle. The resulting architecture is more
code efficient while achieving throughputs up to ten times faster
than conventional CISC microcontrollers.

PIN DIAGRAM
&
DESCRIPTION

 Memory: It has 8 Kb of Flash program memory (10,000 Write/Erase cycles

durability), 512 Bytes of EEPROM (100,000 Write/Erase Cycles). 1Kbyte
Internal SRAM
I/O Ports: 23 I/ line can be obtained from three ports; namely Port B, Port C
and Port D.
Interrupts: Two External Interrupt source, located at port D. 19 different
interrupt vectors supporting 19 events generated by internal peripherals.
Timer/Counter:Three Internal Timers are available, two 8 bit, one 16 bit,
offering various operating modes and supporting internal or external
clocking.
SPI (Serial Peripheral interface): ATmega8 holds three communication
devices integrated. One of them is Serial Peripheral Interface. Four pins are
assigned to Atmega8 to implement this scheme of communication.
USART: One of the most powerful communication solutions is USART and
ATmega8 supports both synchronous and asynchronous data transfer

 TWI (Two Wire Interface): Another communication device that is present in

ATmega8 is Two Wire Interface. It allows designers to set up a commutation
between two devices using just two wires along with a common ground
connection, As the TWI output is made by means of open collector outputs, thus
external pull up resistors are required to make the circuit.
Analog Comparator: A comparator module is integrated in the IC that
provides comparison facility between two voltages connected to the two inputs
of the Analog comparator via External pins attached to the micro controller.
Analog to Digital Converter: Inbuilt analog to digital converter can convert
an analog input signal into digital data of 10bit resolution. For most of the low
end application, this much resolution is enough.
Port B (PB7..PB0) ( XTAL1/XTAL2/TOSC1/ TOSC2 ): Port B is an 8-bit bidirectional I/O port with internal pull-up resistors (selected for each bit). The Port
B output buffers have symmetrical drive characteristics with both high sink and
source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when
a reset condition becomes active, even if the clock is not running.

 Port C (PC5..PC0): Port C is an 7-bit bi-directional I/O port with internal

pull-up resistors (selected for each bit). Port C output buffers have
symmetrical drive characteristics with both high sink and source capability.
The Port C pins are tri-stated when a reset condition becomes active, even
if the clock is not running.

PC6/RESET: If the RSTDISBL Fuse is programmed, PC6 is used as an

I/O pin. Note that the electrical characteristics of PC6 differ from those
of the other pins of Port C.
Port D (PD7..PD0): Port C is an 8-bit bi-directional I/O port with internal
pull-up resistors (selected for each bit). Port C output buffers have
symmetrical drive characteristics with both high sink and source capability.
The Port C pins are tri-stated when a reset condition becomes active, even
if the clock is not running.
AREF: AREF is the analog reference pin for the A/D Converter.

ARCHITECTURE

High-performance, Low-power
AtmelAVR 8-bit Microcontroller.

Advanced RISC Architecture

Power Consumption at 4Mhz, 3V, 25C

8Kbytes of In-System Selfprogrammable, Flash program memory

512Bytes , EEPROM 1Kbyte Internal
SRAM

Programmable Serial USART

Operating Voltages
2.7V - 5.5V (ATmega8L)
4.5V - 5.5V (ATmega8)

 The ATmega8 provides the following features: 8 Kbytes of

In-System Programmable Flash with Read-While-Write
capabilities, 512 bytes of EEPROM, 1 Kbyte of SRAM, 23
general purpose I/O lines, 32 general purpose working
registers, three flexible Timer/Counters with compare
modes, internal and external interrupts, a serial
programmable USART, a byte oriented Two- wire Serial
Interface, a 6-channel ADC (eight channels in TQFP and
QFN/MLF packages) with 10-bit accuracy, a programmable
Watchdog Timer with Internal Oscillator, an SPI serial port,
and five software selectable power saving modes.
The ATmega8 is supported with a full suite of program and
system development tools, including C compilers, macro
assemblers, program simulators, and evaluation kits.

The Idle mode stops the CPU while allowing the SRAM,
Timer/Counters, SPI port, and interrupt system to continue
functioning. The Power- down mode saves the register
contents but freezes the Oscillator, disabling all other chip
functions until the next Interrupt or Hardware Reset. In
Power-save mode, the asynchronous timer continues to run,
allowing the user to maintain a timer base while the rest of
the device is sleeping. The ADC Noise Reduction mode stops
the CPU and all I/O modules except asynchronous timer and
ADC, to minimize switching noise during ADC conversions.
In Standby mode, the crystal/resonator Oscillator is running
while the rest of the device is sleeping. This allows very fast
start-up combined with low-power consumption.

IC 1313 (FT 232RL)

In Freeduino, there is one more IC which we have to go through i.e.
IC 1313 (SN FT 232RL ). The FT232RL is a USB to serial UART [A
UART (Universal Asynchronous Receiver/Transmitter) is the
microchip with programming that controls a computer's interface to
its attached serial devices] interface device which simplifies USB to
serial designs and reduces external component count by fully
integrating an external EEPROM (electrically erasable programmable
read-only memory ), USB termination resistors and an integrated
clock circuit which requires no external crystal, into the device. It
has been designed to operate efficiently with a USB host controller
by using as little as possible of the total USB bandwidth available.

CRYSTAL
( 16MHZ )
A crystal oscillator is a circuit that uses a piezoelectric
crystal (commonly a quartz crystal) as a frequency
selective element. The crystal mechanically vibrates
as a resonator, and its frequency of vibration
determines the oscillation frequency. Crystals have a
very high Q-factor and also better temperature
stability than tuned circuits, so crystal oscillators
have much better frequency stability than LC or RC
oscillators. They are used to stabilize the frequency of
most radio transmitters, and to generate the clock
signal in computers and quartz clocks. Crystal
oscillators often use the same circuits as LC
oscillators, with the crystal replacing the tuned circuit.
First of all the purpose of connecting crystal oscillator
to microcontroller is that it require clock pulses for its
functionality. For each instruction fetching, decoding,
executing, and storing, processor require clock pulse .

Transmitter And
Receiver Section

TRANSMITTER
A transmitter is an electronic device used in telecommunications to produce
radio waves in order to transmit or send data with the aid of an antenna. A
transmitter is also known as a radio transmitter.
Transmitters are devices that are used to send out data as radio waves in a
specific band of the electromagnetic spectrum in order to fulfil a specific
communication need, be it for voice or for general data. In order to do this, a
transmitter takes energy from a power source and transforms this into a
radio frequency alternating current that changes direction millions to billions
of times per second depending on the band that the transmitter needs to
send in. When this rapidly changing energy is directed through a conductor,
in this case an antenna, electromagnetic or radio waves are radiated
outwards to be received by another antenna that is connected to a receiver
that reverses the process to come up with the actual message or data.

SCHEMATIC OF TRANSMITTER

DESCRIBING CONNECTIONS
The transmitter consists of ATmega328 microcontroller
(IC2), ADXL335 accelerometer, HT12E encoder (IC4) and
433MHz RF transmitter module (TX1). In this circuit, two
analogue outputs from ADXL335 pins (x, y) are
connected with input pins (23, 24) of the microcontroller.
Analogue signals are converted to digital signals through
the microcontroller. Digital outputs from pins 16, 17, 18
and 19 of the microcontroller are directly sent to pins 13,
12, 11 and 10 of encoder IC4. This data is encoded and
transmitted via RF module TX1.

IC HT12E ( E FOR ENCODER )

Features

Operating voltage

The 212 series of decoders provides various

combinations of addresses and data pins in different
packages so as to pair with the 212 series of encoders.
The decoders receive data that are transmitted by an
encoder and interpret the first N bits of code period as
addresses and the last 12-N bits as data, where N is the
address code number. A signal on the DIN pin activates
the oscillator which in turn decodes the incoming address and data. The decoders will then check the
received address three times continuously. If the received
address codes all match the contents of the decoders
local address, the 12-N bits of data are decoded to
activate the output pins and the VT pin is set high to
indicate a valid transmission. This will last unless the

2.4V~5V for the HT12A

2.4V~12V for the HT12E
Low power and high noise immunity
CMOS technology
Low standby current: 0.1A (typ.) at
Vdd = 5V
HT12A with a 38kHz carrier for
infrared transmission medium
Minimum transmission word
Four words for the HT12E
One word for the HT12A
Built-in oscillator needs only 5%
resistor
Data code has positive polarity
Minimal external components
HT12A/E: 18-pin DIP/20-pin SOP
package

PIN OUT TABLE

Pin Name

I/P Pins

A0~A7

Input pins for address A0~A7 setting

These pins can be externally set to VSS
or left open.

AD8~AD11

Input pins for address/data AD8~AD11

setting
These pins can be externally set to VSS
or left open.

D8~D11

Input pins for data D8~D11 setting and

transmission enable,
active low.
These pins should be externally set to
VSS or left open.

DOUT

Encoder data serial transmission

output.

L/MB

Latch/Momentary transmission format

selection pin:
Latch: Floating or VDD
Momentary: VSS

OSC , X1

Oscillator , 455kHz resonator oscillator

TRANSMITTER ( WS-TX-01 ) AND RECEIVER

( WS-RX-02 )
WSTX01 and WSRX02 are low
cost ASK transmitter modules
which are based on RFIC
which minimizes the board
size and improve the stability
against interferences. The
transmitter modules work in
very wide voltage range so
they are very suitable for
battery-driven applications. It
can be used together with
WSTX01 and WSRX02 to

Specifications for transmitter ( WSTX01

):
Frequency Range: 434MHz
Modulate Mode: ASK
Data Rate: 8kbps
Supply Voltage: 3-12V
Specifications for receiver ( WSRX02 ):
FrequencyRange:434/315MHz
Modulate Mode : ASK
Data Rate: 8kbps
Supply Voltage: 3-5.5V
High Sensitivity: -113dBm for 315MHz /
-110dBmfor434MHz.

This circuit utilizes the RF module (TX / Rx) for making a wireless remote,
which could be used to drive an output from a distant place. RF module, as the
name suggests, uses radio frequency to send signals. These signals are
transmitted at a particular frequency and a baud rate. A receiver can receive
these signals only if it is configured for that frequency.
This radio frequency (RF) transmission system employs Amplitude Shift Keying
(ASK) with transmitter/receiver (TX /Rx) pair operating at 434 MHz The
transmitter module takes serial input and transmits these signals through RF.
The transmitted signals are received by the receiver module placed away from
the source of transmission. The system allows one way communication
between two nodes, namely, transmission and reception. The RF module has
been used in conjunction with a set of four channel encoder/decoder ICs. Here
HT12E & HT12D have been used as encoder and decoder respectively. The
encoder converts the parallel inputs (from the remote switches) into serial set
of signals. These signals are serially transferred through RF to the reception
point. The decoder is used after the RF receiver to decode the serial format
and retrieve the original signals as outputs.

ACCELEROMETER
The ADXL335 is a small, thin, low power, complete 3-axis
accelerometer with signal conditioned voltage outputs. The product
measures acceleration with a minimum full-scale range of 3 g. It can
measure the static acceleration of gravity in tilt-sensing applications,
as well as dynamic acceleration resulting from motion, shock, or
vibration.
The user selects the bandwidth of the accelerometer using the CX, CY,
and CZ capacitors at the XOUT, YOUT, and ZOUT pins.
Bandwidths can be selected to suit the application, with a range of 0.5
Hz to 1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz
for the Z axis. The ADXL335 is available in a small, low profile, 4 mm
4 mm 1.45 mm, 16-lead, plastic lead frame chip scale package.

Pin
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17

Function Descriptions
No. Mnemonic
Description
NC
No Connect1.
ST
Self-Test.
COM
Common.
NC
No Connect1.
COM
Common.
COM
Common.
COM
Common.
ZOUT
Z Channel Output.
NC
No Connect1.
YOUT
Y Channel Output.
NC
No Connect1.
XOUT
X Channel Output.
NC
No Connect1.
VS
Supply Voltage (1.8 V to 3.6 V)
VS
Supply Voltage (1.8 V to 3.6 V)
NC
No Connect.
EP
Exposed Pad ( Not internally
connected. Solder for mechanical
integrity.

RECEIVER
An RF receiver module receives the modulated RF signal, and
demodulates it. There are two types of RF receiver modules:
superheterodyne receivers and super-regenerative receivers.
Super-regenerative modules are usually low cost and low power
designs using a series of amplifiers to extract modulated data from
a carrier wave. Super-regenerative modules are generally imprecise
as their frequency of operation varies considerably with
temperature and power supply voltage. Superheterodyne receivers
have a performance advantage over super-regenerative; they offer
increased accuracy and stability over a large voltage and
temperature range. This stability comes from a fixed crystal design
which in turn leads to a comparatively more expensive product.

SCHEMATICS OF RECEIVER

DESCRIBING THE CONNECTIONS

Receiver The receiver part consists of 433MHz RF
receiver module (RX1), HT12D decoder (IC5) and
L293D motor driver (IC6) to run the motors. Here,
receiver module RX1 receives the transmitted
signal, which is decoded by decoder IC to get the
same digital outputs. Four outputs of IC6 drive two
motors. The robot moves as per tilt direction of the
accelerometer in the transmitter. The direction of
the robot movement is as per logic.

MOTOR DRIVER
( L293D )
The L293D is a 16 pin IC, with eight pins, on each side, dedicated to the
controlling of a motor. There are 2 INPUT pins, 2 OUTPUT pins and 1
ENABLE pin for each motor. L293D consist of two H-bridge. H-bridge is the
simplest circuit for controlling a low current rated motor. It works on the
concept of H-bridge. H-bridge is a circuit which allows the voltage to be
flown in either direction. As you know voltage need to change its direction
for being able to rotate the motor in clockwise or anticlockwise direction,
Hence H-bridge IC are ideal for driving a DC motor.
The L293D IC receives signals from the microprocessor and transmits the
relative signal to the motors. It has two voltage pins, one of which is used
to draw current for the working of the L293D and the other is used to
apply voltage to the motors. The L293D switches it output signal according
to the input received from the microprocessor. There are two Enable pins
on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9
need to be high. For driving the motor with left H-bridge you need to
enable pin 1 to high. And for right H-Bridge you need to make the pin 9 to

WORKING OF A H-BRIDGE
( H-BRIDGE EXPLAINED EARLIER )

Turning on
SwitchesS1andS4makes the motor
rotate clockwise.
Turning on
SwitchesS2andS3makes the motor
rotate anti-clockwise
Turning on SwitchesS1andS3will
stop the motor (Brakes)
Turning off all the switches gives the
motor a free wheel drive
Lastly turning onS1&S2at the
same time orS3&S4at the same
time shorts your entire circuit. So, do

IC H12D (D FOR DECODER )

The 212 decoders are a series of CMOS LSIs for remote
control system applications. They are paired with Holteks 2 12 series of
encoders. For proper operation, a pair of encoder/decoder with the same
number of addresses and data format should be chosen. The decoders
receive serial addresses and data from a programmed 212 series of encoders
that are transmitted by a carrier using an RF or an IR transmission medium.
They compare the serial input data three times continuously with their local
addresses. If no error or un-matched codes are found, the input data
codes are decoded and then transferred to the output pins. The VT pin also
goes high to indicate a valid transmission.
The 212 series of decoders are capable of decoding information that
consist of N bits of address and 12-N bits of data. Of this series, the HT12D is
arranged to pro- vide 8 address bits and 4 data bits, and HT12F is used to
decode 12 bits of address information.

Gesture controlled robot works on the

principle of accelerometer which records hand
movements and sends that data to the comparator
which assigns proper voltage levels to the recorded
movements. That information is then transferred to
an encoder which makes it ready for RF
transmission. On the receiving end, the information
is received wirelessly via RF, decoded and then
passed onto the microcontroller which takes various
decisions based on the received information. These
decisions are passed to the motor driver IC which
triggers the motors in different configurations to
make the robot move in a specific direction.

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.

Input and Output of the 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.

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 and with
ease.

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.

CONSTRUCTION AND EXECUTION

The transmitter section can be held in your palm or on the
other side. The receiver module is mounted on the robot. Mount
all components on the PCBs shown here to minimise assembly
errors. Fix the receiver PCB and 9V battery on the chassis of the
robot. Fix two motors, along with wheels, at the rear side of the
robot and a castor wheel on the front. After uploading the main
code into the microcontroller, remove it from the Arduino Uno
board and insert it into the populated transmitter PCB. Now,
switch-on the power sup- plies in the transmitter as well as
receiver circuits. Attach the transmitter circuit to your hand and
move your hand forwards, backwards and side- ways.
Directions of the robot movement are given in next slides.

Move Forward

Move Right

Move Backward

Move Left

HAND
GESTURES &
MOVEMENTS

THE ROBOT ONLY MOVES WHEN THE ACCELEROMETER IS

MOVED IN A SPECIFIC DIRECTION. THE VALID MOVEMENTS ARE
AS FOLLOWS
DIRECTION
FORWARD
BACKGROUND
RIGHT

ACCELEROMETER ORIENTATION
+Y
-Y
+X

LEFT

-X

STOP

REST

SOFTWARE
The software program is written in Arduino
programming language. We programmed a
fresh Atmega 8 microcontroller with the
help of Arduino IDE 1.0.7 and an Arduino
Uno board.
First, we have to load bootloader code into
the microcontroller. For that, we used
Arduino Uno for in system programming
(ISP) given in the IDE, by selecting File
Examples- Android ISP. Once the bootloader
is uploaded into the microcontroller, code of
this project can be uploaded.

CONCLUSION
Enormous amount of work has been done on wireless gesture
controlling of robots. In this Presentation, various methodologies
have been analysed and reviewed with their merits and
demerits under various operational and functional strategies.
The sophistication of technologies like programmable glove,
static cameras etc., making them obsolete.
Although recent researches in this field have made wireless
gesture controlling a ubiquitous phenomenon, it needs to
acquire more focus in relevant areas of applications like home
appliances, wheelchairs, artificial nurses, table
top screens etc. in a collaborative manner.