Unobtrusive tremor detection while gesture controlling a robotic arm

Jörg Güttler, Dany Bassily, Christos Georgoulas, Thomas Linner, Thomas Bock

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


A light weight robotic arm (Jaco) has been interfaced with a novel gesture detection sensor (Leap Motion Controller), substituting complicated conventional input devices, i.e., joysticks and pads. Due to the enhanced precision and high throughput capabilities of the LeapMotion Controller, the unobtrusive measurement of physiological tremor can be extracted. An algorithm was developed to constantly detect and indicate potential user hand tremor patterns in real-time. Additionally a calibration algorithm was developed to allow an optimum mapping between the user hand movement, tracked by the Leap Motion Controller, and the Jaco arm, by filtering unwanted oscillations, allowing for a more natural human-computer interaction.

Original languageEnglish
Pages (from-to)103-104
Number of pages2
JournalJournal of Robotics and Mechatronics
Issue number1
StatePublished - 2015
Externally publishedYes


  • Ageing diseases
  • Fourier analysis
  • Leap motion controller
  • Tremor detection


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