Cansever, G.

Kucukdemiral, I. B.

Ulu, Tayfun

English

A design method for an electronic glove interface which is an alternative to the traditional methods for the human-machine interaction (HMI) is presented in this work

ResearchOnline@GCU

An ANN based electronic glove for human-machine interactionUlu, Tayfun; Cansever, G.; Kucukdemiral, I. B.Published in:International Symposium on Innovations in Intelligent Systems and Applications: 15th-18th June, 2005, Istambul,TurkeyPublication date:2005Document VersionPublisher's PDF, also known as Version of recordLink to publication in ResearchOnlineCitation for published version (Harvard):Ulu, T, Cansever, G & Kucukdemiral, IB 2005, An ANN based electronic glove for human-machine interaction. inT Yildrim (ed.), International Symposium on Innovations in Intelligent Systems and Applications: 15th-18th June,2005, Istambul, Turkey: INISTA 2005. Istanbul, Turkey, pp. 191-194, International Symposium on Innovations inIntelligent Systems and Applications, Istanbul, Turkey, 15/06/05.General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright ownersand it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.Take down policyIf you believe that this document breaches copyright please view our takedown policy at https://edshare.gcu.ac.uk/id/eprint/5179 for detailsof how to contact us.Download date: 02. Jan. 2022FRIDAY, 17 JUIYE,2005, 0g:00Lounge A : Human Computer InteractionAn ANN Based Electronic Grove for Human-Machine InteractionTayfun Ulu, Galip Cansever, jbrahim KAgtikdemiralSpeaking Hands of an Artist & Requirements for an InterfaceManolya KavaklrDesignr9 lr95Natural Language control of Agent systems, or "How to Talk to your Toaster,,Christel KemkeI L_e-arnins Management System for online and Hybrid Distance Education:EMU LMS v2IS* Aybay, Vassilya AbdulovaPiecewise Linear Function Interpolation Using Lukasiewicz,s operatorsN. M.Hussein Hassan, A. Barriga, S. Sanchez_SolanoLounge B : Military SystemsIntemet Communication Security Using Elliptic Curve CryptographyOmer Ozgilr Bozkurt1-he Design and Implementation of Network security Modure for SecureBSD KemelJoonsuk yu, Jaehoon yah, Kyoil JungThe controlled Intenret Secure connectivity Assurance pratformSo-Hee Park, Jae-Hoon Nah, Kyo_It Chtmg1 lloy on Group Distributed online certificate status protocolLoad ofValidation ServerSeon-Mook Choi, Keum_Suk Leechaotic Image Encryption using Frexibre euadtree Decomposition forMultimedia ApplicationsRanjan Bose, Saurnitr pathakFRIDAY, 17 JUNE, 2005, 12:00Poster Presentation IILightSpeed: Fusing the Virhral Space with TelepresenceMiriam Lloyd, Manolya KavaklrHybridization of Local Search Methods with a Simple Genetic Algorithmfor the Satisfiability problemLevent Aksoy', Ozgtjr Aydtn TekinIn-Vehicle Weight-in Motion Sensor1992032072112ts2192231 1 1231235tl{iroslav Svftek, Ladislav pejia, Bohuslav Kadleiek. Zdendk Votrubai\IFIA 2005 lnternational Symposium on Innovations in tntelligent Systems and Applications:l{,tl,,riect'' n i cat U n i v e rs itYIAnANNBasedElectronicGloveforHuman.Machinelnteract ionTayfun ULUI, GAIiP CANSE,VER2,IbTAhiM B. KUCUKDEMIRAL]1.2.3- v:r t:- r^^Lninnl f lnivprsitv. Department of Electrical Engineer.in.lt tuulunul u@,snrail' cont\3'rii;7:'iii'lu''v'ersitv'D artmenrof tectricat^u,:::,X",',,:,i:2 c aniever@.Yildiz' e du' tr bektan@,vildizct Jtu 9 r r o r r t  r \ . e / t  r  " - " -  '  -AbstractA ctesign methocl for an electronic glove;nrclrtoce inirh is an alternative to the traditionsl'r,ir,,irat t", rhe human-machine interaction1ltl,tt1 it Prrtented, in.this work'1. IntroductionSystems which sense and process- human.otion are widely used in today's technology'f-specially, they are. very important for theunitnution and cinema industry [1-8]'"""i;';;; "f the high improvementt il tlltechnology, an1' machine needs to operate- lni"t.t".t iJ"'with human' The device which fulf i l lsthis interaction is named as interface'' "il;; interface, hands are used at most',Theyu.. tft. .,,ort functional organ in the human body'In this respect, perceiving the human handsmovements are very imPortant'ln this work, the design of an intcrface :ytttTwhich perceives and process human lu1o t*ou.*.ntt is considered' To fulfill this need' frrst"" .f.|"*f. glove is designed' Then' the.T:ti:ndata captured by this electronic glove are d-lgltally;il;; ;#mitted to the computer' F'inallv'those data are processed by an Artificial Neurali.f.nr"r[ inNN) which outpttts the simulation offinger movements'it. rest of the paper includes the descriptionof th. unutotical structure of huntan hand' the;;";;t mechanism of the interface system'hardware structure and the data processlngsoftware.2. The anatomical structure of humanhandA human hand has more than twenty bonesand'fifte.n junction nodes' This complex structure*hiJ it shown in Figure 1' spans the space by advnamic sYstem with 27 DOF'"'' ij"tt.i.t ,rte motion capability of human handi, ;;i.1; by the interaition betrveen musclesand tendons on these joints' Also some of. theil;rb" ;tts are functionally related' These;;;t.tt"; can be dived into hvo main groups*i-i.ft' i".f"Oe static restrictions and -dynamic,.titi"i""t. Static restrictions arise from thef",p"ttilfflti"s on the structure of joints' whereasdvnamic restrictions anse from the interactions of,i. '*,"tt.. unJ t"ndont of the hand with thei."a""t ""a muscles of neighbor unils:. lor.;;;;i. *,.loint A (Distal Interphalangeal) that isill*I i";i;ure I is affectcd bv the movemenls ofi"i"l e ip."-imal Interphalangeal) in relation olon =?roo.Figure 1. Structure of human hand3. Flex sensor and processing of rlataln the present rvork, in order to get the digital;';;it ;i;;g.. motion, flex sensors are mountedon the glove. Because of the elastic structures ofi,ng.rr,- n.* sensors whose resistance varies bytwisting are used'#r%:::I\\\ no'Figure 2. The structure of flex sensor( t )Figure 3. The hardware structure of the system. Ol the glove, two sensors are mounted forboth index and mid fingers. One of the senson isonly^ affected by joint C, whereas the ott ", senroris. affected by the movements in joints e, g anJ C.Thus, the glove has five sensors including ,f,. on.for thumb. In order to map the sensor oututs intothe same universe of discourse, a briagi ;rcuitand a power amplifier circuit is used. Iisteal ofusing the same circuit five times, u fori unutogmultiplexer is ernbedded to the system. fn this waythe hardware has became more compact andeconomic. The operation of the analog *ultipl.*..is controlled by a microcontroller.The microcontroller has two main tasks. Firstof them is to collect and transmit th. ;;;; ;;*glove to the computer serially and the ,".ona i, ,otransmit the data from the computer to if,.operator via a LCD display. As a mlcrocontrollerPIC. family is prefened because .i itr--nfiCarchitecture which reduces the cost *acomputational time expended. On the other hand,r(rrL mtcroprocessors are widely used andaccepted in industry.5. System software. The programs that are used by themicrocontroller are all coded under C.-in ni,r:spTt, the design time and time elapsed fo. ,..o.pick is significantly reduced.The flex sensor shown in Figure 2, operates asa variable resistance. The resistanc" of th" s.nso,is. linearly proportional with bending "i f*g."The value of the resistance which is-abour l6fOyilnoulany.bending, may take values up to 35_40KQ after bending. In order to ,*rur. - tt,resistance value in a wide-banded region in friel,precision, a Wheatstone bridge is usedl --c4. The hardware structure of the gloveinterfaceTo transmit the hand motion data to the maincomputer_via microprocessor, a structure that issnown ln tigure 3 is usedThe microprocessor program, samples theanalog signal from the ADC and back up thesedata in.an infinite loop and at the end of each loopthe microprocessor transmit these data to the:onputer via serial port. This infinite loop may bernterrupted only by a command fiom - thecomputer. After the message is received by themicrocontroller, this message is printed in iCnpanel. Besides, the microcontrofler produces awaming sound in order to inform the operator forthe received message..The program used in the main computer iscoded under C++. 1X" main task of the program isto observe the serial port continuouriy LA toprocess the received data.The outputs of all five sensors are in differentscale. Because of the use of analog multiplexer, ahardware calibration can not be-performed foreach sensor. Therefore a software calibrationtechnique is used and all outputs of the ,.nroo *"scaled into a same interval. The K, parameter in(2) stands for the calibrated value of the n. sensor,whereas {o stands for the uncalibrated value ofthe n. sensor.Kn = ( t tn-min i4)$I {4J ,?_-- (2)., P.ti|-.r, during rhe calibration process, whenrne nand ts completely open, minimum value of fis obtained. This value is denoted ty min tR i.-O,ithe other hand, when the hand'i, ;";;l.r;yclosed, maximum resistance vatue is oUtuin"Oform the sensors and this is denoted bymax {;;.Here, A stands for the theoreticaily maximumvalue that can be achieved from ih. ;;;;r.Hence, all sensor data are mapped into the sameuniverse by this calibration protedure.Figure 4.User friendly interface screen. T" software presented here, can be used as aninterface to control the other peripheral ""i[ ".shown in Figure 5. In the cunen, ,oorL, t*operipheral units are controlled by the elovemechanism which includes four fun.tionr- fo.each. By use of glove mechanism, each iu*rio"t92can be controlled as an ON/OFF switch. SoftwareProgram first, transmits the address of theperipheral device, then transmits the code of thefunction and finally transmits the parameter of thefunction to the microcontroller.Figure 5. User friendly screen of controloperationWhenever the control is active, the programconsiders the motion of three fingers. Thumb isused for transition between the peripheral units.Each closing and opening of the thumb causes atransition from one peripheral unit to the other.Besides, each opening and closing of the indexfinger brings out transition from one function tothe other. Finally, each opening and closing ofthemid finger designates the function parameter andcauses a transmission of command to theperipheral unils. Throughout the process, theoperator or the user can be abte to follow theprocess by the user friendly screen shorvn inFigure 5. Also, in order that the user may workindependently, all the operations are sent to theglove as an information message. In this way, theuser can be frec from doubt that all the commandsare perceived correctly by the computer.6. The analysis of sensor data via ANNIn this work, in order to find the angles whichare spanned by the hand joints, an ANN is used.Because, there are five sensor for input and fivefor output, 5 input and output neurons are used.On the other hand 50 neurons are used in thehidden layer. As an activation function, tangentsigmoidal function is preferred because of itscontinuous structure. The tangent sigmoidalfunction which is shown in Figure 6 can takevalues between [-1, +l]as shown in Figure 6.The analytical definition of the sismoidaltangent function is asFigure 6. Hyperbolic tangent activation functionDuring the training phase of the ANN,Levenberg-Marquardt optimization method isused [9]. The necessary condition for the use ofthis method is that the activation function shouldbe continuously differentiable, since the derivativeofthe function is used during the training phase.During the training phase of the Multi layerperceptron (MLP), 40 normalized data are usedwhich are mapped between [0, l]. Because of thehighly nonlinearity of the system, the amount ofthe data used in the training phase is veryimportant.Figure 7 shows a screen shot of the ANNsystem. Data captured from the ADC first mappedbetween [0,1] and then applied to ANN. Theangular positions of the finger joints are thenobtained by using the data taken from the outputof the ANN.7. Results and discussionIn this work, in order to fulfill the man -machine interaction, an electronic glove system isproposed. The angular position of the eightjunction points of a human hand is measured byflex sensoi mounted on a glove and transmitted tothe computer where the data is analyzed by anANNti:,i':{1ii)dn) = tanh(n) = ------:- - I .l + e - z nFigure 7. Screen shot of the ANN subsystem(3)r93T'he ordinary logic, rvhich is used asimplication of angular positions, could not be ableto simulate the finger motions conectly because ofthe nonlinearit ies within the hand. However theANr- is less sensitive to noise errors generated bysensors. Thus, ANN is used in the implication ofthe angular motions. Besides, the ANN has theability to tolerate the errors that may generated bythe use ofdifferent users.As an application, a control process isperformed by the use of glove mechanism.Although this rvay of use can be used in industrialapplications, it may also be useful for paralyzedpeople. By the help of the system powered bysoftware. paralyzed person would be able tocontrol any electronic device in her/hisenvironment. For example: he/she would be ableselect he telephonc by moving his/her thumb thenselect any number from the address book bymoving index finger and finally ma-v* fulfill thecall operation by moving mid finger.The software designed for the target systent iscompletely independent from the main svstem.The purpose of the main system is only to transmitthe required information needed by the targetsystem to fulfill operation. The rest of the work isall done by the target system. This type of designstructure makes the system portable and adaptable.The only drawback of the designed sysiem isthat it is not wireless. However the system can beeasil,v modified my embedding a RF module roboth sides. ln this respect the systenr can be madeindependent from computer in a l imitcd region.8. References[ l ]  A. O. Aydrn, and lVt. Ku(, , 'Bi l i5im Ergonomisi"Gazi ['niv. lvhih. ]t,tim. Fak. Der. Vol.l7. Nol4, pp.93_n4,2002.[2] G. Bcbis, F. Haris A. Erol and B. yi ,  "Develoomentof a National l .v Competit ive progranr in ComnuterVision l 'echnologies for F.ffect ivc Llumen-Conrputerlnteraction in Virtual Enr ironrnents,' , iour.,Grant/EPSCoR /nnual )v{eeting, Llniversitr of NtjvadaReno.  Nov.7 .2002[3] S.S. Fels and G.[ i .  Hinton, , 'Glove-T-alk: a NeuralNetw'ork Interfacc Betrveen a Data-Glove and a SpcechSynthcsizcr", IEEE Transactiorts ott it,eurol h'eni.orks.Vo l .  .1 .  pp .2-6 .  I993.[3] C. Johannsen, "Design of Intel l igcnt l{unran-Nlachine lnterfaces", 3rd tEEE International lI'orkshoootr l?abot and lIunun Communication, RO_,lLt\ '91.pp: I 8-25 Nagoya. | 8-20 July I 994.[-5] N. Karlsson, B. Karlsson, and p.Wide, ' ,A Gloretiquipped rvith Finger Flexion Scnsors as a CommandGencrator Used in a Fuzz.y Control Systenr,', /EEETronsaction,t on lnstrunentation anc! illeasurement.Yo l .47 .  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An ANN based electronic glove for human-machine interaction

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An ANN based electronic glove for human-machine interaction

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