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This paper deals with the robotic arm controller using image processing in the field of Human-Machine Interaction (HMI). There are two different methods used to analyze to control the robotic arm, the main aim of them is getting the hand gesture information without using tool that helps the system to extract data easier (ex. glove or wrist band). After segmentation of the hand, the first method is comparing of all pre-stored data in the database at the Template Matching Algorithm, the second method is Signature Signal, distance signal between edge of the hand and center of hand, Signature Signal is used to find where the fingertips are and to count the number of them. Both methods have enough calculation speed to be used in continuous frame capturing sequence.