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Enhanced Recognition for Finger Gesture-Based Control in Humanoid Robots Using Inertial Sensors
Research Article | Published: 30 October 2024
IECE Transactions on Sensing, Communication, and Control Volume 1, Issue 2, 2024: 89-100
Volume 1, Issue 2, IECE Transactions on Sensing, Communication, and Control
Volume 1, Issue 2, 2024
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IECE Transactions on Sensing, Communication, and Control, Volume 1, Issue 2, 2024: 89-100

Free to Read | Research Article | 30 October 2024
Enhanced Recognition for Finger Gesture-Based Control in Humanoid Robots Using Inertial Sensors
by
Jingyi Xie Jingyi Xie 1
Na Xiang Na Xiang 1
Shenglun Yi Shenglun Yi 2 *
1 School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China
2 Department of Information Engineering, University of Padua, Italy
* Corresponding Author: Shenglun Yi, [email protected]
DOI: 10.62762/TSCC.2024.805710
Received: 11 September 2024, Accepted: 15 October 2024, Published: 30 October 2024  
Cited by: 1  (Source: Web of Science) , 2  (Source: Google Scholar)
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Abstract
Humanoid robots have much weight in many fields. Their efficient and intuitive control input is critically important and, in many cases, requires remote operation. In this paper, we investigate the potential advantages of inertial sensors as a key element of command signal generation for humanoid robot control systems. The goal is to use inertial sensors to detect precisely when the user is moving which enables precise control commands. The finger gestures are initially captured as signals coming from the inertial sensor. Movement commands are extracted from these signals using filtering and recognition. These commands are subsequently translated into robot movements according to the attitude angle of the inertial sensor. The accuracy and effectiveness of the finger movements using this method are experimentally demonstrated. The implementation of inertial sensors for gesture recognition simplifies the process of sending control inputs, paving the way for more user-friendly and efficient interfaces in humanoid robot operations. This approach not only enhances the precision of control commands but also significantly improves the practicality of deploying humanoid robots in real-world scenarios.
Graphical Abstract
Enhanced Recognition for Finger Gesture-Based Control in Humanoid Robots Using Inertial Sensors
Keywords
inertial sensor
finger gesture
NAO humanoid robot
quaternions
motion capture
Funding
This work was supported without any funding.
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Cite This Article
APA Style
Xie, J., Na, X., & Yi, S. (2024). Enhanced Recognition for Finger Gesture-Based Control in Humanoid Robots Using Inertial Sensors. IECE Transactions on Sensing, Communication, and Control, 1(2), 89–100. https://doi.org/10.62762/TSCC.2024.805710
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