Development and validation of a human-machine interface for unmanned aerial vehicle (UAV) control via hand gesture teleoperation

Abstract

In this research, a drone-style unmanned aerial vehicle is maneuvered using hand gestures through the creation of a specialized glove design. The analytical formulas pertaining to the drone framework developed during the research were derived, leading to the establishment of a mathematical representation. These formulas were implemented in the Matlab & Simulink environment, and simulations of the system based on this mathematical representation were conducted. Next, to carry out verification tests, a unique device was crafted and set up for the drone, enabling real-time data exchange with the glove. A series of distinct signal sets for the glove were examined to confirm the functionality of the system. After confirming the control mechanism, it was seamlessly incorporated into the electronic hardware framework, leveraging the Arduino Uno microcontroller as the focal point. Within the hand gesture apparatus, an innovative circuit was devised, managed by the Atmega328P microcontroller chip. The primary motivation behind this exploration resides in the desire to establish a user interface for UAV operators that is both seamless and unobtrusive, moving beyond the artificial and cumbersome elements tied to traditional control systems. For this purpose, the research aims to empower users to utilize hand gestures—frequently employed in various everyday scenarios—for piloting activities, thus improving user performance and simplicity of use. The findings of this study highlight the parity between the glove apparatus designed for hand gesture manipulation and the conventional joystick-based system, thereby confirming its effectiveness for multiple applications. Furthermore, a one-handed method was embraced for hand gesture control, with the supplementary aim of offering pilot training opportunities for individuals with upper limb impairments.