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The purpose of this paper is to present a robotic system that allows users to instruct and program a robot with a high\u2010level of abstraction from the robot language.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The paper presents in detail a robotic system that allows users, especially non\u2010expert programmers, to instruct and program a robot just showing it what it should do, in an intuitive way. This is done using the two most natural human interfaces (gestures and speech), a force control system and several code generation techniques. Special attention will be given to the recognition of gestures, where the data extracted from a motion sensor (three\u2010axis accelerometer) embedded in the Wii remote controller was used to capture human hand behaviours. Gestures (dynamic hand positions) as well as manual postures (static hand positions) are recognized using a statistical approach and artificial neural networks.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>It is shown that the robotic system presented is suitable to enable users without programming expertise to rapidly create robot programs. The experimental tests showed that the developed system can be customized for different users and robotic platforms.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The proposed system is tested on two different robotic platforms. Since the options adopted are mainly based on standards, it can be implemented with other robot controllers without significant changes. Future work will focus on improving the recognition rate of gestures and continuous gesture recognition.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The key contribution of this paper is that it offers a practical method to program robots by means of gestures and speech, improving work efficiency and saving time.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper presents an alternative to the typical robot teaching process, extending the concept of human\u2010robot interaction and co\u2010worker scenario. Since most companies do not have engineering resources to make changes or add new functionalities to their robotic manufacturing systems, this system constitutes a major advantage for small\u2010 to medium\u2010sized enterprises.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011018911","type":"journal-article","created":{"date-parts":[[2010,2,20]],"date-time":"2010-02-20T07:02:27Z","timestamp":1266649347000},"page":"137-147","source":"Crossref","is-referenced-by-count":67,"title":["High\u2010level programming and control for industrial robotics: using a hand\u2010held accelerometer\u2010based input device for gesture and posture recognition"],"prefix":"10.1108","volume":"37","author":[{"given":"Pedro","family":"Neto","sequence":"first","affiliation":[]},{"given":"J.","family":"Norberto Pires","sequence":"additional","affiliation":[]},{"given":"A.","family":"Paulo Moreira","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022020119491643500_b16","doi-asserted-by":"crossref","unstructured":"Akmeliawati, R., Ooi, M.P.L. and Kuang, Y.C. 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