{"ID":2867362,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.19521","arxiv_id":"2509.19521","title":"A Bimanual Gesture Interface for ROS-Based Mobile Manipulators Using TinyML and Sensor Fusion","abstract":"Gesture-based control for mobile manipulators faces persistent challenges in reliability, efficiency, and intuitiveness. This paper presents a dual-hand gesture interface that integrates TinyML, spectral analysis, and sensor fusion within a ROS framework to address these limitations. The system uses left-hand tilt and finger flexion, captured using accelerometer and flex sensors, for mobile base navigation, while right-hand IMU signals are processed through spectral analysis and classified by a lightweight neural network. This pipeline enables TinyML-based gesture recognition to control a 7-DOF Kinova Gen3 manipulator. By supporting simultaneous navigation and manipulation, the framework improves efficiency and coordination compared to sequential methods. Key contributions include a bimanual control architecture, real-time low-power gesture recognition, robust multimodal sensor fusion, and a scalable ROS-based implementation. The proposed approach advances Human-Robot Interaction (HRI) for industrial automation, assistive robotics, and hazardous environments, offering a cost-effective, open-source solution with strong potential for real-world deployment and further optimization.","short_abstract":"Gesture-based control for mobile manipulators faces persistent challenges in reliability, efficiency, and intuitiveness. This paper presents a dual-hand gesture interface that integrates TinyML, spectral analysis, and sensor fusion within a ROS framework to address these limitations. The system uses left-hand tilt and...","url_abs":"https://arxiv.org/abs/2509.19521","url_pdf":"https://arxiv.org/pdf/2509.19521v1","authors":"[\"Najeeb Ahmed Bhuiyan\",\"M. Nasimul Huq\",\"Sakib H. Chowdhury\",\"Rahul Mangharam\"]","published":"2025-09-23T19:39:00Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}