Abstract
As robots become increasingly prevalent in both homes and industrial settings, the demand for intuitive and efficient human-machine interaction continues to rise. Gesture recognition offers an intuitive control method that does not require physical contact with devices and can be implemented using various sensing technologies. Wireless solutions are particularly flexible and minimally invasive. While camera-based vision systems are commonly used, they often raise privacy concerns and can struggle in complex or poorly lit environments. In contrast, radar sensing preserves privacy, is robust to occlusions and lighting, and provides rich spatial data such as distance, relative velocity, and angle. We present a gesture-controlled robotic arm using mm-wave radar for reliable, contactless motion recognition. Nine gestures are recognized and mapped to real-time commands with precision. Case studies are conducted to demonstrate the system practicality, performance and reliability for gesture-based robotic manipulation. Unlike prior work that treats gesture recognition and robotic control separately, our system unifies both into a real-time pipeline for seamless, contactless human-robot interaction.
Abstract (translated)
随着机器人在家庭和工业环境中的应用日益广泛，对直观高效的人机交互需求也在不断增加。手势识别提供了一种无需直接接触设备的自然控制方法，并可通过多种传感技术实现。无线解决方案尤其灵活且侵入性小。尽管基于摄像头的视觉系统常常被采用，但它们经常引发隐私问题，并且在复杂或光线不足的环境中表现不佳。相比之下，雷达感应能保护用户隐私，对遮挡和照明条件具有鲁棒性，还能提供丰富的空间数据，如距离、相对速度和角度等信息。 本文介绍了一种使用毫米波雷达的手势控制机械臂系统，可实现可靠且无接触的动作识别。该系统能够精确地识别并映射九种手势到实时命令中。通过案例研究展示了基于手势的机器人操作系统的实用性和性能可靠性。不同于以往将手势识别和机器人控制视为独立过程的研究，我们的系统首次统一这两者，构建了一个实时管道，实现了无缝、无接触的人机交互。
URL
https://arxiv.org/abs/2509.12008
