This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts' trajectory generation is to track a person's physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the two carts on the motorised circular rail in detail. Lastly, a study case is offered to show the performance of the described control algorithms for trajectory generation.
This paper introduces a motorized circular rail managing the movement of two carts equipped with an RGB-D sensor each. The proposal is aimed at continuously tracking a person who is undergoing a series of physical rehabilitation exercises from two different viewpoints to monitor if the exercises are being correctly conducted. More concretely, this work offers all details of the trajectory calculation for safe movement of both carts on the motorized circular rail. Then, two study cases are presented to show the efficiency of the control algorithms implemented.
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