  In this paper we introduce a novel approach that enables users to interact
with a mobile robot in a natural manner. The proposed interaction system does
not require any specific infrastructure or device, but relies on commonly
utilized objects while leaving the user's hands free. Specifically, we propose
to utilize a smartwatch (or a sensorized wristband) for recognizing the motion
of the user's forearm. Measurements of accelerations and angular velocities are
exploited to recognize user's gestures and define velocity commands for the
robot. The proposed interaction system is evaluated experimentally with
different users controlling a mobile robot and compared to the use of a remote
control device for the teleoperation of robots. Results show that the usability
and effectiveness of the proposed natural interaction system based on the use
of a smartwatch provide significant improvement in the human-robot interaction
experience.
