Gestures for Manually Controlling a Helping Hand Robot

Mahisorn Wongphati, Hirotaka Osawa, Michita Imai

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


Helping hand robots have been the focus of a number of studies and have high potential in modern manufacturing processes and for use in daily living. As helping hand robots interact closely with users, it is important to find natural and intuitive user interfaces for interacting with the robots in various situations. This study describes a set of gestures for interacting with and controlling helping hand robots in situations in which users need to manually control the robot but both hands are not available, for example, when users are holding tools or objects in their hands. The gestures are derived from an experimental study that asked participants for gestures suitable for controlling primitive robot motions. The selected gestures can be used to control translation and orientation of an end effector of a helping hand robot when one or both hands are engaged with tasks. As an example for validating the proposed gestures, we implemented a helping hand robot system to perform a soldering task.

Original languageEnglish
Pages (from-to)731-742
Number of pages12
JournalInternational Journal of Social Robotics
Issue number5
Publication statusPublished - 2015 Nov 1


  • Gesture
  • Helping hand
  • Human–robot collaboration
  • Human–robot interaction
  • User-defined

ASJC Scopus subject areas

  • General Computer Science


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