1

Chapter 1

Accelerometer Based Wireless Gesture Robot Car

1.1 Introduction

A Gesture Controlled robot is a kind of robot which can be controlled

by your hand gestures not by old buttons. You just need to wear a small transmitting device

in your hand which included an acceleration meter. This will transmit an appropriate

command to the robot so that it can do whatever we want. The transmitting device included

a comparator IC for analog to digital conversion and an encoder IC(HT12E) which is use

to encode the four bit data and then it will transmit by an RF Transmitter module.

At the receiving end an RF Receiver module receiver’s the encoded data and decode it by

a decoder IC (HT12D). This data is then processed by a microcontroller AVR AtMega 8

and finally our motor driver to control the motors.

As we can see in the images one is robot and the another is to transmit the gesture data

to robot.

Now its time to break the task

in different module's to make the

task easy and simple any project

become easy or error free if it is

done in different modules. As

our project is already divided

into two different part transmitter

and receiver.

1.2 Transmitter device or Gesture device: This part contain four module in it--

1 Accelerometer

2 RF Transmitter

1.2.1 Accelerometer:- An Accelerometer is a kind of sensor which gives an analog

data while moving in X,Y,Z direction or may be X,Y direction only depends on the type

of the sensor. Here is a small image of an Accelerometer shown. We can see in the image

Fig. 1.1 Robot Fig. 1.1Gesture Device

2

that there are some arrow showing if we tilt these sensor's in that direction then the data at

that corresponding pin will change in the analog form. The Accelerometer having 5 pin-

1- VDD- We will give the +5volt to this pin

2- GND- We simply connect this pin to the ground for

biasing.

3- X- On this pin we will receive the analog data for x

direction movement.

4- Y- On this pin we will receive the analog data for y

direction movement.

5- Z- On this pin we will receive the analog data for z direction movement.

6- ST- this pin is use to set the sensitivity of the accelerometer 1.5g/2g/3g/4g.

1.2.2 RF Transmitter Module (TX):- The transmitter module is working on the frequency

of 433MHz and is easily available in the market at the cost of 450rs.

1- The vcc pin is connected to the +terminal in the circuit.

2- The data pin is connected to the HT12E (pin no-17) that is transmitted or we can

say that encoded data.

3- The next pin is shown in figure is GND that is connected to the ground terminal.

4- Now the last pin ANT this is connected to a small wire as an antenna.

1.2.3 Processor (microcontroller): The processing is the most important part of

the robot. Till now we get the data from the decoder now based on that data we have to

make some decision so here the role of microcontroller is coming up. We use an Atmel

atmega 8 microcontroller for our circuit to give them a decision capability. The basic circuit

to initialize the microcontroller is shown below. We just need a reset circuit and oscillator

to run the program.

1.3 Receiver or Robot: This part contain four module--

1. Receiver

2. Process(microcontroller Atmel Atmega8)

3. Actuator (Motor driver L293)

Fig. 1.3

Accelerometer

3

1.3.1 RF Receiver Module (RX):- The RF receiver

module will receive the data which is transferred by the

gesture device. It is also working as similar to the

transmitter module.

1- Connect the +vcc pin to the 5volt terminal

2- Connect the ground pin to the ground terminal

3- The data pin is then connected to the microcontroller

1.3.2 Process (Microcontroller At mega 8) :The processing is the most important part of

the robot. Till now we get the data from the decoder now based on that data we have to

make some decision so here the role of microcontroller is coming up. We use an 8051

microcontroller for our circuit to give them a decision capability.

1.3.3 Actuator's: The Actuator's are those devices which actually gives the movement or to

do a task like motor's. In the real world there are various types of motors available

which works on different voltages. So we need motor driver for running them through the

controller. To get interface between motor and microcontroller. We use L293D motor

driver IC in our circuit.

Fig. 1.4 RF

Transmitter

4

Chapter 2

Atmega 8

2.1 History:

AVR was developed in the year 1996 by Atmel Corporation. The architecture of AVR

was developed by Alf-Egil Bogen and Vegard Wollan. AVR derives its name from

its developers and stands for Alf-Egil Bogen Vegard Wollan RISC microcontroller,

also known as Advanced Virtual RISC. The AT90S8515 was the first microcontroller

which was based on AVR architecture however the first microcontroller to hit the

commercial market was AT90S 1200 in the year 1997.

AVR microcontrollers are available in three categories:

1. Tiny AVR

2. Mega AVR

3. Xmega AVR

2.2 Features of Atmega8

1. High-performance, Low-power Atmel AVR 8-bit Microcontroller

2. Advanced RISC Architecture

3. High Endurance Non-volatile Memory segments

4. Peripheral Features

5. Special Microcontroller Features

6. I/O and Packages

7. Operating Voltages

8. Speed Grades

9. Power Consumption at 4Mhz, 3V, 25 °C

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

Fig 2.1 AVR Microcontroller

5

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 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. The device is manufactured using Atmel’s high

density non-volatile memory technology. The Flash Program memory can be

reprogrammed In-System through an SPI serial interface, by a conventional non-volatile

memory programmer, or by an On-chip boot program running on the AVR core. The boot

program can use any interface to download the application program in the Application

Flash memory.

6

2.2 Pin Configuration

Fig 2.2 At mega 8 Pin

Configuration

7

Chapter 3

Interfacing to ATmega8 I/O Ports

3.1 Introduction:

ATmega8 has 32 I/O pins to communicate with external devices. Before interfacing

with external devices, these pins must be configured as input or output pin .All the

four ports can be configured to read an input from some external device or to give

output to any external device as per the application .A single port can be configured

such that some of the pins of the same port are input and some are output.

3.2 Configuring I/O Ports:

Every port (PORTx, x = A or B or C or D) of AVR microcontrollers have three

registers associated with it:

1. DDRx: Data direction Register, to set the direction of each pin of PORTx and

configuring it to be as input or output.

2. PORTx: The values which are to be supplied at the output of the port are

written in this register. These values acts as input to the device connected at

output port of the microcontroller (through PORTx output configured pins).

3. PINx: This register stores the input value from the external connected

hardware, when the port is configured as input port. The input data is read from

PINx register.

3.3 Switch on I/O Ports:

It is always best connecting the switch to ground with a pull-up resistor.

When the switch is open, the 10k resistor supplies very small current needed

for logic 1. When it is closed, the port pin is short to ground. The voltage is

0V and the entire sinking current requirement is met, so it is logic 0. The

10k resistor will pass 0.5 mA (5 volt/10k ohm). Thus the circuits waste very

little current in either state. Fig 3.1 Switch

Connection

8

3.4 LED on I/O Ports:

The resistor limits the current. The resistance can be calculated by assuming

its voltage is above 2.5V and the C output is 0.9V. For 2.2V LED, 1 .9V is

across the resistor so the 220 ohm would limit the current to 8.6mA

(1.9/220). For 1.7V LED, 2.4V is across the resistor so it would limit the

current to 10.9mA (2.4/220). The resistor should not less than 100 ohm or

the LED would fail.

Fig3.2 LED

Connection

9

Chapter 4

AVR Timer

4.1 Introduction

The timer systems on the AVR series of Microcontroller are complex beasts. They

have a myriad of uses ranging from simple delay intervals right up to complex PWM

generation.

We use timers every day – the simplest can be found on wrist. A simple clock will time

the seconds, minutes and hours elapsed in a given day. AVR timer do a similar job,

measuring a given time interval.

So basically, a timer is a register, but not a normal one. The value of this register

increases/decreases automatically. In AVR, timers are of two types: 8-bit and 16-bit

timers. In an 8-bit timer, the register used is 8-bit wide whereas in 16-bit timer, the register

width is of 16 bits. This means that the 8-bit timer is capable of counting 2^8=256

steps from 0 to 255 as demonstrated below.

The AVR timers are very useful as they can run asynchronous to the main AVR core.

This is fancy way of saying that the timers are separate circuits on the AVR chip

which can run independent of the main program, interacting via the control and count

registers, and the timer interrupts. Timers can be configured to produce output

directly to pre-determined pins, reducing the processing load on the AVR core.

Fig. 4.1 Timer

10

4.2 Basic Concept

The AVR has three timers:

1. Timer 0 – 8 bit.

2. Timer 1 – 16 bit.

3. Timer 2 – 8 bit.

4.3 TCNT0 Register:

The Timer/Counter Register – TCNT0 is as follows:

This is where the 8-bit counter of the timer resides. The value of the counter is

stored here and increases/decreases automatically. Data can be both read/written from

this register. Now we know where the counter value lies. But this register won’t be

activated unless we activate the timer! Thus we need to set the timer up.

The Timer/Counter Control Register – TCCR0 is as follows:

Fig. 4.2 Timer Concept

Fig. 4.3 Timer Register

Fig. 4.4 Timer Register TCCR0

11

We will concentrate on the highlighted bits. The other bits will be discussed as and

when necessary. By selecting these three Clock Select Bits, CS02:00, we set the timer

up by choosing proper prescaler. The possible combinations are shown below.

4.4 Timers Running at F_cpu

Let’s say, we need to flash an LED every 6ms and we are have a CPU clock

frequency of 32 kHz. We initialize the counter as:

TCCR0 |= (1 << CS00);

4.5 Code

Code:

#include <avr/io.h>

void timer0_init()

{

TCCR0 |= (1 << CS00); // set up timer with no prescaling

TCNT0 = 0; // initialize counter

}

int main(void)

{

Fig. 4.5 Clock Bit Set

12

DDRC |= (1 << 0); // connect led to pin PC0

timer0_init(); // initialize timer

while(1)

{

if (TCNT0 >= 191) // check if the timer count reaches 191

{

PORTC ^= (1 << 0); // toggles the led

TCNT0 = 0; // reset counter

}

}

}

13

Chapter 5

AVR USART

5.1 Introduction

The Universal Synchronous and Asynchronous serial Receiver and Transmitter

(USART) is a highly flexible serial communication device. The USART hardware

allows the AVR to transmit and receive data serially to and from other devices such

as a computer or another AVR.

5.2 Main features are:

1. Full Duplex Operation (Independent Serial Receive and Transmit Registers)

2. Asynchronous or Synchronous Operation

3. Master or Slave Clocked Synchronous Operation

4. High Resolution Baud Rate Generator

5. Supports Serial Frames with 5, 6, 7, 8, or 9 Data Bits and 1 or 2 Stop Bits

6. Odd or Even Parity Generation and Parity Check Supported by Hardware

7. Data Over Run Detection

8. Framing Error Detection

9. Noise Filtering Includes False Start Bit Detection and Digital Low Pass Filter

10. Three Separate Interrupts on TX Complete, TX Data Register Empty, and RX

Complete

11. Multi-processor Communication Mode

12. Double Speed Asynchronous Communication Mode

Atmega8 USART provides asynchronous mode of communication and do not have a

dedicated clock line between the transmitting and receiving end. The synchronization is

achieved by properly setting the baud rate, start and stop bits in a transmission sequence.

Start bit and stop bit:

14

These bits are used to synchronize the data frame. Start bit is one single low bit and is

always given at the starting of the frame, indicating the next bits are data bits. Stop bit can

be one or two high bits at the end of frame, indicating the completion of frame.

5.3 Baud Rate:

In simple words baud rate is the rate at which serial data is being transferred. Baud

rate of two devices must match or else they will not be able to synchronize with each other.

To set Baud rate:

#define USART_BAUDRATE 9600

5.4 USART Registers

To use the USART of Atmega16, certain registers need to be configured. USART control

and status register. It’s is basically divided into three parts UCSRA, UCSRB and

UCSRC. These registers are basically used to configure the USART. USART Baud

Rate Registers. Basically use to set the baud rate of USART.

UDR: USART data register

Initializing the USART:

To initialize the USART:

1. Turn on transmission and reception circuitry.

2. Select the number of stop bits.

3. Set the size of data.

4. Load the value of UBRR to set the baud rate.

Code:

void usart_init()

{

UCSRB|=(1<<RXEN)|(1<<TXEN); // Turn on transmission and reception circuitry

UCSRC|=(1<<URSEL)|(1<<UCSZ0)|(1<<UCSZ1); // use 8-bit character sizes

15

UBRRH = (BAUD_PRESCALE>>8);

UBRRL = BAUD_PRESCALE; // baud rate value into the high byte of the UBBR

register

}

5.5 Sending Data

We can do this by checking the USART Data Register Empty flag (UDRE), also

located in the UCSRA control register of ATmega8.

Code:

while((UCSRA & (1 << UDRE))==0)

{ }; // Do nothing until UDR is ready

UDR = ByteToSend; // Send out the byte value in the variable” ByteToSend”

5.6 Receiving Data

To do this, we can check the USART Receive Complete (RXC) flag to see if it is

set. RXC is located in the UCSRA control register of ATmega8.

Code:

while((UCSRA & (1 << RXC))==0)

{ }; // Do nothing until data have been received and is ready to be read from UDR

ReceivedByte = UDR; // Fetch the received byte value in the variable” ReceivedByte”

16

Chapter 6

Accelerometer

6.1 Introduction

The ADXL330 is a small, thin, low power, complete 3-axis accelerometer with signal

conditioned voltage outputs, all on a single monolithic IC. 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 C Z capacitors

at the X OUT, YOUT, and Z OUT pins.

Bandwidths can be selected to suit the application, with a range of 0.5 Hz to 1600 Hz for

X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.

The ADXL330 is available in a small, low profile, 4 mm × 4 mm × 1.45 mm, 16-lead,

plastic lead frame chip scale package (LFCSP_LQ).

6.2 Theory Of Operation

The ADXL330 is a complete 3-axis acceleration measurement system on a single

monolithic IC. The ADXL330 has a measure-ment range of ±3 g minimum. It contains a

polysilicon surface micromachined sensor and signal conditioning circuitry to implement

an open-loop acceleration measurement architecture.The output signals are analog voltages

that are proportional to acceleration. The accelerometer can measure the static accelera-

tion of gravity in tilt sensing applications as well as dynamic acceleration resulting from

motion, shock, or vibration. The sensor is a polysilicon surface micromachined structure

built on top of a silicon wafer. Polysilicon springs suspend the structure over the surface

of the wafer and provide a resistance against acceleration forces. Deflection of the structure

is meas-ured using a differential capacitor that consists of independent fixed plates and

plates attached to the moving mass. The fixed plates are driven by 180° out-of-phase square

waves. Acceleration deflects the moving mass and unbalances the differential capacitor

17

resulting in a sensor output whose amplitude is proportional to acceleration. Phase-

sensitive demodulation techniques are then used to determine the magnitude and direction

of the acceleration. The demodulator output is amplified and brought off-chip through a 32

kΩ resistor. The user then sets the signal band-width of the device by adding a capacitor.

This filtering improves measurement resolution and helps prevent aliasing.

6.2.1 Mechanical Sensor

The ADXL330 uses a single structure for sensing the X, Y, and Z axes.As a result, the

three axes sense directions are highly orthogonal with little cross axis sensitivity.

Mechanical mis-alignment of the sensor die to the package is the chief source of cross axis

sensitivity. Mechanical misalignment can, of course, be calibrated out at the system level.

6.2.2 Performance

Rather than using additional temperature compensation circuitry, innovative design

techniques ensure high performance is built-in to the ADXL330. As a result, there is neither

quantization error nor nonmonotonic behavior, and temperature hysteresis is very low

(typically less than 3 m g over the −25°C to +70°C temperature range). This is typically

better than ±1% over the −25°C to +70°C temperature range.

6.3 Functional Block Diagram

Fig. 6.1 Functional Block Diagram

18

6.4 Features

1. 3-axis sensing

2. Small, low-profile package

3. 4 mm × 4 mm × 1.45 mm LFCSP

4. Low power

5. 180 μA at V S = 1.8 V (typical)

6. Single-supply operation

7. 1.8 V to 3.6 V

8. 10,000 g shock survival

9. Excellent temperature stability

10. BW adjustment with a single capacitor per axis

11. RoHS/WEEE lead-free compliant

6.5 Applications

1. Cost-sensitive, low power, motion- and tilt-sensing applications

2. Mobile devices

3. Gaming systems

4. Disk drive protection

5. Image stabilization

6. Sports and health devices

19

Chapter 7

Radio Transmitter & Receiver Modules

7.1 Introduction

1. The MO-SAWR is an ASK transmitter module .

2. The result is excellent performance in a simple-to-use .

3. The MO-SAWR is designed specifically for remote-control , wireless mouse and

car alarm system operating at 433.92 in the USA under FCC Part 15 regulation.

7.2 Features

1. Miniature sil package

2.

3. Fully shielded

4. Data rates up to 128kbits/s

5. Range up to 300 meters

6. Single supply voltage

7. Industry pin compatible

7.3 Application

1. Car security system

2. Remote key less entry

3. Garage door controller

4. Home security

5. Wireless mouse

6. Automation system

7.4 Operation Warning

1. Do not expose the boards to direct outdoor environment. If they will be used

outdoors, keep them away from water, moisture and direct sunlight.

2. The serial input and output pins operate at +5V and 0V logic levels. Do not attempt

to connect directly to a computer RS232 port as this will damage the module.

Typical levels at a computer RS232 port are +10V and -10V; these voltages would

Fig. 7.1 RF Transmitter

Fig.7.2. RF Receiver

20

immediately damage the module. The module is intended to interface directly with

the Basic Stamp 2, the BASIC Stamp 2sx and other +5V logic devices.

3. Keep the top part of the board (PCB Trace Antenna, opposite end of the 17 pin

header) at least 4 inches away from any object, especially metal, wires and batteries

as this will de-tune the antenna, drastically reducing performance. Laying the

module flat on a work desk made of wood, plastic or glass can sometimes cause

problems as well, since some paints contain conductive materials.

4. Do not touch the adjustable capacitor located at the top of the board. This part is

factory tuned and must not be adjusted. It is set at an optimal operating position

and if moved will drastically reduce performance.

5. If mounting the board, use the mounting holes located in the center and corner of

the boards. Only use plastic stand-offs and plastic screws. Using any electrically

conductive materials near the board will reduce performance of the board.

Table 7. 1Operating Parameters

21

Chapter 8

Software Tool

8.1 Eclipse Juno

Eclipse is a community for individuals and organizations who wish to collaborate on commercially-

friendly open source software. Its projects are focused on building an open development platform

comprised of extensible frameworks, tools and runtimes for building, deploying and managing

software across the lifecycle. The ECLIPES Foundation is a not-for-profit, member supported

corporation that hosts the ECLIPES PROJECT and helps cultivate both an open source community

and an ecosystem of complementary products and services.

8.1.1 History of Eclipse

Industry leaders Borland, IBM, MERANT, QNX Software Systems, Rational Software,

Red Hat, SuSE, TogetherSoft and Webgain formed the initial eclipse.org Board of

Stewards in November 2001. By the end of 2003, this initial consortium had grown to over

80 members. On Feb 2, 2004 the Eclipse Board of Stewards announced Eclipse’s

reorganization into a not-for-profit corporation. Originally a consortium that formed when

IBM released the Eclipse Platform into Open Source, Eclipse became an independent body

that will drive the platform’s evolution to benefit the providers of software development

offerings and end-users. All technology and source code provided to and developed by this

fast-growing community is made available royalty-free via the Eclipse Public License.

The founding Strategic Developers and Strategic Consumers were Ericsson, HP, IBM,

Intel, MontaVista Software, QNX, SAP and Serena Software.

8.1.2 Application Development

Fig. 8.1 Eclipse Divergence

22

8.2 Dip Trace :

DipTrace is EDA software for creating schematic diagrams and printed circuit boards. The first

version of DipTrace was released in August, 2004. The latest version as of March 2013 is DipTrace

version 2.3.1. The interface and tutorials are multi-lingual (currently English, Czech, Russian and

Turkish) In January of 2011Parallax switched from Eagle to DipTrace for developing its printed

circuit boards.

8.2.1 Modules:

1. Schematic Design Editor

2. PCB Layout Editor

3. Component Editor

4. Pattern Editor

5. Shape-Based AutoRoute

6. 3D PCB Preview

Fig. 8.2 AVR Installation

23

8.2.2 Smart Project Structure

Dip Trace is single environment with direct circuit-to-board conversion, updating from

schematic and back annotation. Nets are divided to net classes with custom settings and

class-to-class rules. Through and blind/buried visa are organized to Via Styles.

8.2.3 Placement Features

Components can be placed manually by simple drag and drop and special "Place by list"

feature or automatically according to custom settings and with optimized length of traces.

For excellent results use combination of all available placement methods.

Fig. 8.3 Dip Trace Product

Fig. 8.4 Placement Feature

24

8.2.4 High-Speed AutoRoute

Dip Trace high-class shape-based auto router with advanced settings is capable of routing

complex multi-layer boards, as well as simple single-layer boards with jumper wires.

DSN/SES interface provides support for external routers (Spectra, Electra, Toper etc.)

8.2.5 Manual Routing

Traces can be created with 15, 30, 45, 90-degree and free angle lines or with arcs and

curves. Hot keys allow to change route mode, current segment's geometry, width, layer,

via style and other parameters on the go. Existing traces can be easily moved or changed

without losing geometry, while different highlight options ensure friendly working process.

Smart shape-based copper pour system with pour priority and automated settings expand

engineering opportunities even more.

8.2.6 Advanced Verification Features

Fig. 8.5 Routing Variation

Fig. 8.6 More DipTrace Option

25

Dip Trace provides error-free design environment, from component creation to board

manufacturing. DRC verifies clearances between design objects and size limits, while rules

are defined by object types, layers, net classes and class-to-class settings. Real-time DRC

checks every action and shows errors before actually making them. Net Connectivity

guarantees, that all nets had been properly routed and reports broken and merged nets.

Comparing to schematic allow to find differences between PCB and source schematic.

26

Chapter 9

PCB Layouts

9.1 Receiver Bot

Fig.9.1 Receiver Bot Top View

Fig.9.2 Receiver Bot Bottom View

27

9.2 Transmitter Bot

Fig.9.3 Transmitter Bot Top View

Fig.9.4 Transmitter Bot Bottom

View

28

9.3 Motor Driver

Fig.9.5 Motor Drive Top View

Fig.9.6 Motor Drive Bottom View

29

9.4 Supply Filter

Fig.97 Supply Filter Top View

Fig.9.8 Supply Filter Bottom View

30

Chapter 10

Conclusion

As we all know, these days India is sick off massive terror attacks and bomb explosions.

To avoid such disasters technological power must exceed human power. Human life and

time are priceless. So in this project, we propose a model of a robot based on “Human

Machine Interfacing Device” utilizing hand gestures to communicate with embedded

systems for tracking of enemies. The 3-axis accelerometer is selected to be the input device

of this system, capturing the human arms behaviors. When compared with other common

input devices, especially the teach pendant, this approach using, accelerometer is more

intuitive and easy to work, besides offering the possibility to control a robot by wireless

means. Using this system, a non-expert robot programmer can also control a robot quickly

and in a natural way.

In further advancement this project can be taken to the next level by using the wireless

camera that can capture images. With the installation on camera with this system can make

this project a military useful project.

For commercial purpose this project may be helpful to the paralyses patients who cant walk

but can move hand. The mechanism used in project i.e. controlling as gesture be used in

the wheel chairs for them.

31

References

[1] S. Waldherr, R. Romero, and S. Thrun, “A gesture based interface for human-

robot interaction,” in Autonomous Robots, vol. 9, o.2, pp. 151-173, Springer, 2000.

[2] I. Mihara, Y. Yamauchi, and M. Doi, “A real-time vision-based interface using

motion processor and applications to robotics,” in Systems and Computers in Japan,

vol. 34, pp. 10-19, 2003.

[3] S. Perrin, A. Cassinelli, and M. Ishikawa, “Gesture recognition using laser-based

tracking system,” in Sixth IEEE International Conference on Automatic Face and Gesture

Recognition, pp. 541-546, 2004.

[4] Martin Urban, Peter Bajcsy, Rob Kooper and Jean-Chistophe “Recognition of Arm

Gestures Using Multiple orientation sensors,” Lementec2004 IEEE Intelligent

Transportation Systems conference Washington, D.C., USA, October34,2004.

[5] Tan Tian Swee, A.K. Ariff, Sh-Hussain.Salleh, Siew Kean Seng and Leong Seng

Huat “Data Gloves Malay Sign Language Recognition System” 1-4244-0983-

7/07/$25.00 ©2007 IEEE.

[6] Robert Lemoyne, Christian Coroian, and Timothy Mastroianni “Wireless

accelerometer system for quantifying gait,” 978-1-4244-3316-2/09/$25.00©2009IEEE.

[7] Pedro Neto, J. Norberto Pires, and A. Paulo Moreira, “Accelerometer-Based

Control of an Industrial Robotic Arm”, IEEE International Symposium on Robot and

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