Implementation of Remote Control of a Robot Arm by Hand Gestures

Abstract

Recently, the coronavirus pandemic has led to a new normal lifestyle, and reducing contact with humans by 70% is necessary in order for preventing infection. Therefore, in order to reduce the chances of contact between humans to the greatest degree possible, we propose a prototype method for remotely controlling a robot arm using human hand gestures in a non-contact manner. By multithread processing of involving hand gesture recognition using a Kinect device, and conversion between the camera coordinate system and the robot coordinate system, smooth operation of the robot arm is realized by asynchronous communication using exclusive control (mutex class in C++) and queue buffering (queue class on C++).