The Design and Evaluation of an Ergonomic Contactless Gesture Control System for Industrial Robots

Table 1

User input and robot control mode.

Mode	Function	Trigger
Off	No movement	None
Joint 1	Base movement	Right hand roll
Joint 1	Shoulder	Right hand pitch
Joint 1	Elbow	Right hand yaw
Joint 2	Wrist 1 movement	Right hand pitch
Joint 2	Wrist 2 movement	Right hand yaw
Joint 2	Wrist 3 movement	Right hand roll
Cartesian	Movement in -axis	Right hand horizontal movement to left and right
Cartesian	Movement in -axis	Right hand movement to forward and backward positions
Cartesian	Movement in -axis	Right hand movement to upward and downward position