Robust human machine interface based on head movements applied to assistive robotics

Autores
Perez, Elisa; López Celani, Natalia Martina; Orosco, Eugenio Conrado; Soria, Carlos Miguel; Mut, Vicente Antonio; Freire Bastos, Teodiano
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.
Fil: Perez, Elisa. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; Argentina
Fil: López Celani, Natalia Martina. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Orosco, Eugenio Conrado. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Freire Bastos, Teodiano. Universidade Federal do Espírito Santo; Brasil
Materia
Robotic wheelchair
Sensor fusion
Vision based interface
Inertial sensor
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/28216
Acceder
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repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Robust human machine interface based on head movements applied to assistive roboticsPerez, ElisaLópez Celani, Natalia MartinaOrosco, Eugenio ConradoSoria, Carlos MiguelMut, Vicente AntonioFreire Bastos, TeodianoRobotic wheelchairSensor fusionVision based interfaceInertial sensorhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.Fil: Perez, Elisa. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; ArgentinaFil: López Celani, Natalia Martina. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Orosco, Eugenio Conrado. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Freire Bastos, Teodiano. Universidade Federal do Espírito Santo; BrasilHindawi Publishing Corporation2013-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/28216Perez, Elisa; López Celani, Natalia Martina; Orosco, Eugenio Conrado; Soria, Carlos Miguel; Mut, Vicente Antonio; et al.; Robust human machine interface based on head movements applied to assistive robotics; Hindawi Publishing Corporation; The Scientific World Journal; 2013; 10-2013; 1-11; 5896362356-6140CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1155/2013/589636info:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/tswj/2013/589636/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:43:46Zoai:ri.conicet.gov.ar:11336/28216instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-15 15:43:46.576CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Robust human machine interface based on head movements applied to assistive robotics
title Robust human machine interface based on head movements applied to assistive robotics
spellingShingle Robust human machine interface based on head movements applied to assistive robotics
Perez, Elisa
Robotic wheelchair
Sensor fusion
Vision based interface
Inertial sensor
title_short Robust human machine interface based on head movements applied to assistive robotics
title_full Robust human machine interface based on head movements applied to assistive robotics
title_fullStr Robust human machine interface based on head movements applied to assistive robotics
title_full_unstemmed Robust human machine interface based on head movements applied to assistive robotics
title_sort Robust human machine interface based on head movements applied to assistive robotics
dc.creator.none.fl_str_mv Perez, Elisa
López Celani, Natalia Martina
Orosco, Eugenio Conrado
Soria, Carlos Miguel
Mut, Vicente Antonio
Freire Bastos, Teodiano
author Perez, Elisa
author_facet Perez, Elisa
López Celani, Natalia Martina
Orosco, Eugenio Conrado
Soria, Carlos Miguel
Mut, Vicente Antonio
Freire Bastos, Teodiano
author_role author
author2 López Celani, Natalia Martina
Orosco, Eugenio Conrado
Soria, Carlos Miguel
Mut, Vicente Antonio
Freire Bastos, Teodiano
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Robotic wheelchair
Sensor fusion
Vision based interface
Inertial sensor
topic Robotic wheelchair
Sensor fusion
Vision based interface
Inertial sensor
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.
Fil: Perez, Elisa. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; Argentina
Fil: López Celani, Natalia Martina. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Orosco, Eugenio Conrado. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Freire Bastos, Teodiano. Universidade Federal do Espírito Santo; Brasil
description This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair.
publishDate 2013
dc.date.none.fl_str_mv 2013-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/28216
Perez, Elisa; López Celani, Natalia Martina; Orosco, Eugenio Conrado; Soria, Carlos Miguel; Mut, Vicente Antonio; et al.; Robust human machine interface based on head movements applied to assistive robotics; Hindawi Publishing Corporation; The Scientific World Journal; 2013; 10-2013; 1-11; 589636
2356-6140
CONICET Digital
CONICET
url http://hdl.handle.net/11336/28216
identifier_str_mv Perez, Elisa; López Celani, Natalia Martina; Orosco, Eugenio Conrado; Soria, Carlos Miguel; Mut, Vicente Antonio; et al.; Robust human machine interface based on head movements applied to assistive robotics; Hindawi Publishing Corporation; The Scientific World Journal; 2013; 10-2013; 1-11; 589636
2356-6140
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1155/2013/589636
info:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/tswj/2013/589636/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1846083542300229632
score 13.22299

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