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

Resultado de la investigación: Contribución a los tipos de informe/libroContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaRobot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications
EditoresJinwhan Kim, Brendan Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim
EditorialSpringer Science and Business Media Deutschland GmbH
Páginas363-377
Número de páginas15
ISBN (versión impresa)9783030976712
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 - Daejeon, República Popular Democrática de Corea
Duración: 16 dic. 202117 dic. 2021

Serie de la publicación

NombreLecture Notes in Networks and Systems
Volumen429 LNNS
ISSN (versión impresa)2367-3370
ISSN (versión digital)2367-3389

Conferencia

Conferencia9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
País/TerritorioRepública Popular Democrática de Corea
CiudadDaejeon
Período16/12/2117/12/21

Áreas temáticas de ASJC Scopus

  • Ingeniería de control y sistemas
  • Procesamiento de senales
  • Redes de ordenadores y comunicaciones

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