A Gesture-Based Visual Learning Model for Acoustophoretic Interactions using a Swarm of AcoustoBots

• URL: http://arxiv.org/abs/2604.19643v1
• Date: Tue, 21 Apr 2026 16:32:38 GMT
• Title: A Gesture-Based Visual Learning Model for Acoustophoretic Interactions using a Swarm of AcoustoBots
• Abstract summary: AcoustoBots are mobile acoustophoretic robots capable of delivering haptics, directional audio, and acoustic levitation.<n>Existing implementations rely on scripted commands and lack an intuitive interface for real-time human control.<n>This work presents a gesture-based visual learning framework for contactless human-swarm interaction with a multimodal AcoustoBot platform.
• Score: 8.171680721155761
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intuitive interface for real-time human control. This work presents a gesture-based visual learning framework for contactless human-swarm interaction with a multimodal AcoustoBot platform. The system combines ESP32-CAM gesture capture, PhaseSpace motion tracking, centralized processing, and an OpenCLIP-based visual learning model (VLM) with linear probing to classify three hand gestures and map them to haptics, audio, and levitation modalities. Validation accuracy improved from about 67% with a small dataset to nearly 98% with the largest dataset. In integrated experiments with two AcoustoBots, the system achieved an overall gesture-to-modality switching accuracy of 87.8% across 90 trials, with an average end-to-end latency of 3.95 seconds. These results demonstrate the feasibility of using a vision-language-model-based gesture interface for multimodal human-swarm interaction. While the current system is limited by centralized processing, a static gesture set, and controlled-environment evaluation, it establishes a foundation for more expressive, scalable, and accessible swarm robotic interfaces.

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