The aim of this project is to create a remote control system for a robotic arm controlled by using the Kinect sensor, to track the movements of the user  arm, without any additional point of measurement (marker-less modality). The Kinect camera acquires a 3D point cloud of the body and a skeleton representation of the gesture/pose is obtained using the SDK library software provided by the Kinect. The skeleton joints are tracked and used to estimate the angles.

KinectSkeleton

The point cloud acquired by the Kinect, and the skeleton. Points A, B, and C are the joints

Elbow angle geometry.

Elbow angle geometry.

Point A is the joint of the wrist, point B is the joint of the elbow and point C is the joint of the shoulder. In the three dimensional space, vectors BA and BC are calculated with using the space coordinates of points A, B and C, which are taken from the skeleton. Angle α is calculated by using the dot product of the two vectors. The software has been developed in C# in Visual Studio 2015.