gesture_MeArm

English | 繁體中文

This is a simple gesture recognition program for the MeArm. It uses the MediaPipe to detect hand gestures and control the MeArm.

MediaPipe Hand tracking

MeArm

https://www.youtube.com/watch?v=TBRi6ecgQfc

How to use

Circuit connection

Servo define like this picture.

!! Important don't use the software serial, it will cause the servo jitter.

Upload the code to the Arduino

Change the initial position of the servo motor in the code.

int default_angle[4] = {75, 90, 90, 60};

make sure remove the bluetooth module from serial pin then upload the code.

Install the required libraries

cd python
pip install -r requirements.txt

Set up webcam

you can use the normal webcam or an android phone as a webcam through Droidcam app.

change the cam_source in the code.

cam_source = "http://192.168.1.100:4747/video"
# 0,1 for usbcam, "http://192.168.1.165:4747/video" for webcam

Change the configuration

First, you need to know the servo movement range of your MeArm.

Then, change the configuration in the python code.

x_min = 0
x_mid = 75
x_max = 150

y_min = 0
y_mid = 90
y_max = 180

z_min = 10
z_mid = 90
z_max = 180

claw_open_angle = 60
claw_close_angle = 0

Sencond, make sure the debug mode is on.

debug = True

Due to different camera viewing angles and resolutions, it may need test and then change the values of the following parameters.

# use angle between wrist and index finger to control x axis
palm_angle_min = -50
palm_angle_mid = 20

# use wrist y to control y axis
wrist_y_min = 0.3
wrist_y_max = 0.9

# use palm size to control z axis
plam_size_min = 0.1
plam_size_max = 0.3


fist_threshold = 7

Finally, run the code and enjoy it.

make sure the com port is correct.

ser = serial.Serial('COM4', 115200)

change debug mode to False.

debug = False

run the code.

python main.py