Design of Self-contained Gesture-based Input Device for Human Robot Interface

In this paper, we introduce a spatial input device equipped with accelerometers and gyroscopes for interaction between humans and robots. The sensors measure accelerations and angular velocities produced by the users' handwriting motions in 2D/3D spaces. The measurements from gyroscopes are integrated to give the attitude of the system and are consequently used to remove the effects of the gravity and the inclination of the system. The compensated acceleration measurements are integrated twice to give the position of the system. Due to the integration processes involved in estimating the handwriting trajectory, the accuracy of the position measurement significantly deteriorates along with time. To estimate handwriting trajectory of a stroke on a surface and even in the air, we propose methods to segment a stroke, to compensate the integration errors, and to reconstruct 2D trajectory on the X-y plane from 3D trajectory in 3D space. Real experimental results with several performance measures are included to show the effectiveness and feasibility of the developed input device.