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This paper describes the design and evaluation of the "gestural joystick," a wearable 2-D pointing controller for mobile robots in hazardous environments that uses hand gestures. Hazardous environments, such as that of a collapsed building search, require operators to wear a significant amount of protective clothing. This protective clothing, which may include hard hats, suits, gloves, goggles, etc., reduces comfort, mobility, dexterity, load capacity, and ability to interact with conventionaldoi:10.1145/1774674.1774689 dblp:conf/permis/VoylesBG08 fatcat:ikm3elet4zhwfgiwxdjhuc7wbe