Hand Gesture and Arm Movement Recognition for Multimodal Control of a 3-DOF Helicopter

Ricardo Romero, Patricio J. Cruz, Juan P. Vásconez, Marco Benalcázar, Robin Álvarez, Lorena Barona, Ángel Leonardo Valdivieso

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

This paper presents the application of hand gestures and arm movements to control a dual rotor testbench. A multimodal control method is developed for a 3-degrees-of-freedom (DOF) tandem helicopter based on surface electromyography sensors and an inertial measurement unit (IMU) included in the Myo Armband sensor. The recognition system can classify five different hand gestures which are used for switching between flight modes and generating set point values for the helicopter. The 3-DOF helicopter testbench is fully designed and implemented as a low cost alternative for assessing the effectiveness of flight controls for unmanned aerial vehicles. The position of the helicopter is regulated by a cascade-dual-PID control scheme that allows a fast switching between a gesture mode and an IMU mode. Experimental results show the effectiveness of using hand gesture recognition and arm movement for controlling an aerial test bench with a fast and accurate response.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications
EditorsJinwhan Kim, Brendan Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim
PublisherSpringer Science and Business Media Deutschland GmbH
Pages363-377
Number of pages15
ISBN (Print)9783030976712
DOIs
Publication statusPublished - 2022
Externally publishedYes
Event9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 - Daejeon, Korea, Democratic People's Republic of
Duration: 16 Dec 202117 Dec 2021

Publication series

NameLecture Notes in Networks and Systems
Volume429 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
Country/TerritoryKorea, Democratic People's Republic of
CityDaejeon
Period16/12/2117/12/21

Keywords

  • 3-DOF helicopter
  • Arm movement recognition
  • Hand gesture recognition
  • Multimodal control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications

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