Artículos de revistas
Vision-based interface applied to assistive robots
Fecha
2012-10Registro en:
Pérez Berenguer, María Elisa; Soria, Carlos Miguel; López Celani, Natalia Martina; Nasisi, Oscar Herminio; Mut, Vicente Antonio; Vision-based interface applied to assistive robots; Sage Publications; International Journal of Advanced Robotic Systems; 10; 2; 10-2012; 1-10
1729-8806
1729-8814
CONICET Digital
CONICET
Autor
Pérez Berenguer, María Elisa
Soria, Carlos Miguel
López Celani, Natalia Martina
Nasisi, Oscar Herminio
Mut, Vicente Antonio
Resumen
This paper presents two vision-based interfaces for disabled people to command a mobile robot for personal assistance. The developed interfaces can be subdivided according to the algorithm of image processing implemented for the detection and tracking of two different body regions. The first interface detects and tracks movements of the user's head, and these movements are transformed into linear and angular velocities in order to command a mobile robot. The second interface detects and tracks movements of the user's hand, and these movements are similarly transformed. In addition, this paper also presents the control laws for the robot. The experimental results demonstrate good performance and balance between complexity and feasibility for real-time applications.