Departmental Papers (ESE)


We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used in two representative human-to-human control areas, we consider a set of oscillatory (circular) motions and refine from them a 24 gestures lexicon. Each gesture is modeled as a dynamic system with added geometric constraints to allow for real time gesture recognition using a small amount of processing time and memory. The gestures are used to control a pan-tilt camera neck. The gesture lexicon is then enhanced to include non-linear in parameter ("come here") gesture representations. An enhancement is suggested which would enable the system to be trained to recognized previously unidentified yet consistent human generated oscillatory motion gestures.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

October 1997


Copyright 1997 IEEE. Reprinted from Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 1997. 'Computational Cybernetics and Simulation', 1997 , Volume 5, pages 4513 - 4518.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the School of Engineering at the University of Pennsylvania.



Date Posted: 10 April 2008

This document has been peer reviewed.