Robot arm control using iPod's sensors, touch feature, and gesture recognition

This video shows a wrist-joint of a 5 degree-of-freedom robotic manipulator being commanded by an iPod Touch held in a user's hand. As the hand is tilted forward and backward, the iPod's accelerometer data is used to command the wrist-joint to tilt forward and backward, respectively. The same iPod interface allows the user to command the other 4 degrees-of-freedom as well.