## 4 Experimental Results
### Gesture-Based Control Systems for Robotics  
When designing gestures and gesture-based control for the system, several key criteria were considered:  
* Gestures must be clear and easily distinguishable to ensure accurate interpretation without introducing confusion or ambiguity. This ensures that the system can reliably recognize and respond to the intended commands. * Gestures should be straightforward and intuitive, even for users with minimal experience. Complex gestures might lead to errors or user frustration, so simplicity was a priority to enhance usability and reduce the likelihood of mistakes. * The gestures should be comfortable and natural to perform, minimizing physical strain and fatigue. This consideration helps ensure that users can execute gestures repeatedly without discomfort, thereby supporting prolonged and effective interaction with the system. Furthermore, we acknowledge that our gesture selection could be improved by incorporating established gesture elicitation approaches or other existing datasets [49; 55]. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Parameters** & **Value** & **Parameters** & **Value** \\ \hline lr0 & 0.01 & hsv h & 0.015 \\ lrf & 0.1 & hsv s & 0.7 \\ momentum & 0.937 & hsv v & 0.4 \\ weight decay & 0.0005 & degrees & 0.0 \\ warmup epochs & 3.0 & translate & 0.2 \\ warmup & 0.8 & scale & 0.5 \\ momentum & 0.1 & shear & 0.0 \\ warmup bias lr & 0.05 & perspective & 0.0 \\ box & 0.3 & flipud & 0.0 \\ cls pw & 1.0 & fliplr & 0.5 \\ obj & 0.7 & mosaic & 1.0 \\ obj pw & 1.0 & mixup & 0.0 \\ iou t & 0.2 & copy paste & 0.0 \\ anchor t & 4.0 & paste in & 0.0 \\ fl gamma & 0.0 & loss ota & 1 \\ \hline \hline \end{tabular} Additional hyperparameters were kept at their default values if not listed in the table.  
\end{table} 
Table 4: A summary of the YOLOv7 hyperparameters. \begin{table}
\begin{tabular}{l l} \hline \hline
**Gesture** & **Command** \\ \hline four & Selection of tool number 4. \\ like & Selection of tool number 1. In combination with the four gesture, this is selection of tool number 5. \\ one & Confirmation of selection and initiation of the process. \\ ok & Confirmation of selection and initiation of the process. \\ palm & \\ stop inv. & Termination of the process. \\ three & \\ three 2 & Selection of tool number 3. In combination with the four gesture, this is selection of tool number 7. \\ two up & \\ two up inv. & \\ peace & Selection of tool number 2. In combination with the four gesture, this is selection of tool number 6. \\ peace inv. & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Hand gestures and their use in robot control. For the intended application, a total of 13 distinct gestures and their combinations are deemed sufficient. Given that there are 7 tools on the workbench, the gesture system must facilitate the selection of tools numbered 1 through 7. Predefined hand gestures have been established for the numbers 1 through 4. By combining these gestures, numbers 5 through 7 can be represented. For instance, raising one hand to signify the number 4 while simultaneously raising the other hand to signify the number 1 allows for the representation of the number 5. A comprehensive list of all gestures and their corresponding meanings is provided in Table 3.  
To train the gesture detection model, the annotations of the HaGRID dataset were first converted from the COCO format to the YOLO format. Following this conversion, the model training was carried out. The network exhibited excellent performance right from the initial training phase. The training process spanned approximately 6 days with 2 GTX 1080 Ti cards. The results of gesture detection using the trained YOLOv7 model can be observed in Figures 9 and 10 with hyperparameters shown in Table 4. The decision to use YOLOv7 for gesture control instead of YOLOv8 was driven by availability constraints at the time of implementation. Specifically, when the gesture control system was developed, YOLOv7 was the most recent version accessible, preventing the use of YOLOv8 for this task.