Hand Posture Control of Robo-Chair (P-0127) (MFN 5496)

Abstract

Gestural interface has been the subject of research for more than 40 years.The implementation of a novel intuitive and adaptive manipulation scheme is proposed by developing a human-machine communication interface between the Leap Motion controller and the wheel chair. An algorithm is developed to allow an optimum mapping between the user hand movement, tracked by the Leap Motion controller, and the wheel chair. The system should allow for a more natural humancomputer interaction and a smooth manipulation of the wheel chair, by constantly adapting to the user hand tremor or shake. The implementation would specially enhance the quality of living, especially for people with lower limb problems, and would support them in performing some of the essential Activities of Daily Living “ADLs”. This thesis deals with the design and testing of an applicable software interface that allows a user to control a wheel chairby using a Leap Motion Sensor while defining and keeping a safe workspace for the wheel chair to operate. Thesensorisusedtosensethegesturesandmovethewheelchairaccordingtothegestures.Itwilltrackthem ovementofthefingersandhandstorecognizethegesture&thenthroughArduinothemotorswillperformt hedesiredoperation.IninterfacingwewillcontrolthemotorofRobochairthroughserialcommunicationtomovethechairleft, right,forwardorreverse. The Leap Motion Sensor is a small and portable device which is able to sense human hands above it and to keep track of them. The user will feel an interesting touch-free control experience while controlling the wheel chair.