An intelligent robotic assistive living system

Jarvis, Ray; Gupta, Om K.; Effendi, Sutono; Li, Zhi

doi:10.1145/1579114.1579174

Cited by 4 publications

(5 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To determine the angle of the elbow joint, the joint positions for the shoulder and wrist positions were used to create two vectors that shared a single origin point of the elbow. Using these vectors, it is possible to solve for the angle using equation (1). Rotation of the shoulder is ignored in this model due to the fact that the model of a limb used was two stepper motors which are not capable of rotation.…”

Section: Kinect V2 Experimentsmentioning

confidence: 99%

“…Common uses for these machines are as medical devices, either for assisting in rehabilitation or to perform services that the user is incapable of doing, such as replacing a limb for patients with motor impairments or administering medicine. 1,2 Current research in this topic focuses on enabling these devices to operate in a natural way with users and to work semi-independently. One of the major focuses of research relating to robotic assistive devices is developing interfaces for users.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Prototyping and evaluation of interactive and customized interface and control algorithms for robotic assistive devices using Kinect and infrared sensor

McFassel

Hsieh

Peng

2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Robotic assistive devices are popular in research and medical fields for their potential to automate tasks or to improve the quality of life of disabled users. They may be used for physical therapy, as exoskeletons, teleoperation devices, or to assist users in tasks in their home. Common methods for controlling these devices use both broad and difficult-to-maintain gesturing or peripherals such as mouse pointers or joysticks which are not designed for the task required of them. In addition, these devices are often not adaptive to the user and can only be minimally customized. This article proposes a fusion of infrared camera data for stress detection with Kinect body tracking to develop a customizable control method for a robotic limb. Devices such as the Microsoft Kinect have seen use in physical therapy applications but only some use in teleoperation. In addition, studies have shown potential in using infrared imaging to detect human stress. The objectives of this study are to design and build an interactive interface and adaptive control system and to evaluate its performance. Stress detection using infrared was tested using a Compix 222 and neural networks to categorize emotional states. Kinect v2 accuracy and reliability was tested by comparing joint positions to detected angles and perceived output angles. Our work suggests that infrared imaging and the Kinect v2 show potential to make a real-time adaptive system in which a control program can adapt its output when it detects stress from its user.

show abstract

Section: Kinect V2 Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Prototyping and evaluation of interactive and customized interface and control algorithms for robotic assistive devices using Kinect and infrared sensor

McFassel

Hsieh

Peng

2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Next, by substituting eq. ( 10) into ( 9) and letting P = (0, 0, 0) , we obtain ( , ) ∼ HKt . Then, this point will be rotated using R 2 ( ).…”

Section: The Camera Ego-motion From Image Registrationmentioning

confidence: 99%

“…In the last decade, many new robotics applications have emerged particularly in domestic settings such as robots in assistive technology for elderly or disabled people [9]. Such domestic environments are very unstructured and uncontrolled, where the robot encounters numerous unknown objects.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Camera Ego-Motion Estimation Using Phase Correlation under Planar Motion Constraint

Effendi

Jarvis

2010

2010 International Conference on Digital Image Computing: Techniques and Applications

Self Cite

View full text Add to dashboard Cite

An intelligent robotic living assistive system has become a popular research in the last decade. One of the important topics in that research area is 3D object reconstruction from multiple views. This process may depend on motion estimation using vision. However, often a domestic robot on an electric wheel chair has to move in a steep rotational angle that causes motion estimation from vision to become inaccurate. In addition, an oblique viewing angle creates a perspective distortion to the captured images, which further worsens the estimation result. Hence, in this paper, we propose a new approach by altering the motion estimation problem into a 2D image registration problem. Our method's accuracy is very close to that of the Scale Invariant Feature Transform (SIFT) features tracker, whereas the Kanade-Lucas-Tomasi (KLT) tracker's drops as soon as the rotational angle reaches about 40 ∘ . Although our method is 2.7 times slower than the KLT tracker, it is 19 times faster than the SIFT tracker.

show abstract

3D shape recovery by superquadrics model using object Silhouettes and stereo disparity

Effendi

Jarvis

2010

2010 IEEE Conference on Cybernetics and Intelligent Systems

View full text Add to dashboard Cite

An intelligent robotic assistive living system

Cited by 4 publications

References 13 publications

Prototyping and evaluation of interactive and customized interface and control algorithms for robotic assistive devices using Kinect and infrared sensor

Prototyping and evaluation of interactive and customized interface and control algorithms for robotic assistive devices using Kinect and infrared sensor

Camera Ego-Motion Estimation Using Phase Correlation under Planar Motion Constraint

3D shape recovery by superquadrics model using object Silhouettes and stereo disparity

Contact Info

Product

Resources

About