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In fact, the human factor cannot be left aside when technological advances affecting society are foreseen. The proposal has been tested on a gesture control system that enables a natural interaction with a robotic arm through the use of IoT-oriented inertial measurement unit devices. These devices capture the movements of both human\u2019s arms. Experiments of a technical nature have been run to measure accuracy and latency. In addition, human-centered tests have been conducted with real users to determine the level of intuitiveness and acceptance of the proposed gesture control. The results obtained demonstrate that the proposal meets the demands in terms of real-time, success rate, flexibility and scalability, which are fundamental requirements in Industry 4.0. The usability results have enabled drawing useful conclusions on the use of such human-robot interaction systems.<\/jats:p>","DOI":"10.3233\/ica-200637","type":"journal-article","created":{"date-parts":[[2020,7,3]],"date-time":"2020-07-03T17:32:02Z","timestamp":1593797522000},"page":"159-175","source":"Crossref","is-referenced-by-count":23,"title":["Human-robot interaction in Industry 4.0 based on an Internet of Things real-time gesture control system"],"prefix":"10.1177","volume":"28","author":[{"given":"Luis","family":"Roda-Sanchez","sequence":"first","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Inform\u00e1tica de Albacete (I3A), Albacete, 02071, Spain"}]},{"given":"Teresa","family":"Olivares","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Inform\u00e1tica de Albacete (I3A), Albacete, 02071, Spain"},{"name":"Departamento de Sistemas Inform\u00e1ticos, Universidad de Castilla-La Mancha, Albacete, 02071, Spain"}]},{"given":"Celia","family":"Garrido-Hidalgo","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Inform\u00e1tica de Albacete (I3A), Albacete, 02071, Spain"}]},{"given":"Jos\u00e9 Luis","family":"de la Vara","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Inform\u00e1tica de Albacete (I3A), Albacete, 02071, Spain"},{"name":"Departamento de Sistemas Inform\u00e1ticos, Universidad de Castilla-La Mancha, Albacete, 02071, Spain"}]},{"given":"Antonio","family":"Fern\u00e1ndez-Caballero","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Inform\u00e1tica de Albacete (I3A), Albacete, 02071, Spain"},{"name":"Departamento de Sistemas Inform\u00e1ticos, Universidad de Castilla-La Mancha, Albacete, 02071, Spain"}]}],"member":"179","reference":[{"issue":"7","key":"10.3233\/ICA-200637_ref1","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1109\/MCOM.2018.1700655","article-title":"Flexible multimodal sub-gigahertz communication for heterogeneous internet of things applications","volume":"56","author":"Famaey,","year":"2018","journal-title":"IEEE Communications Magazine"},{"issue":"2","key":"10.3233\/ICA-200637_ref2","doi-asserted-by":"crossref","first-page":"137","DOI":"10.3233\/ICA-170559","article-title":"An integrated semantic framework for designing context-aware internet of robotic things systems","volume":"25","author":"Sabri,","year":"2018","journal-title":"Integrated Computer-Aided Engineering"},{"key":"10.3233\/ICA-200637_ref3","doi-asserted-by":"crossref","first-page":"103127","DOI":"10.1016\/j.compind.2019.103127","article-title":"An end-to-end internet of things solution for reverse supply chain management in Industry 4.0","volume":"112","author":"Garrido-Hidalgo,","year":"2019","journal-title":"Computers in Industry"},{"key":"10.3233\/ICA-200637_ref4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.compind.2018.04.015","article-title":"The industrial internet of things (IIoT): an analysis framework","volume":"101","author":"Boyes,","year":"2018","journal-title":"Computers in Industry"},{"key":"10.3233\/ICA-200637_ref5","doi-asserted-by":"crossref","unstructured":"Lei, Q., Zhang, H., Yang, Y., He, Y., Bai, Y., Liu, S. 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