Humanoid robot programming through face expressions

Accessibility plays a fundamental role for interacting with several current technologic devices, advances in this area are focused in features for natural interfaces that benefits regular and handicapped users. Robot motion and programming requires configuring a set of actions to be executed by each joint, in humanoid didactic kits these tasks are achieved from preloaded commands, or sliding bars for positioning each joint. Current user interfaces based on image processing allows complementing robot motion and programming through gestures without requiring mouse or keyboard thus, making more appealing the experience for students by offering a more natural form of interaction through face or hand gestures. This project implemented a low-cost framework for programming a humanoid robot with 14 degrees of freedom through facial and hand gestures as means to facilitate accessibility to robot motion and programming without the keyboard or mouse. Results proved that moving and programming sequences with gestures is attractive no new users, however, actions based on eyebrow movement such as click or double click, along error in the expression detection affected user interactions, however, interactions through hand motion was more comfortable and was only affected by the sensors precision.