Vision-based interface applied to assistive robots

Autores
Pérez Berenguer, María Elisa; Soria, Carlos Miguel; López Celani, Natalia Martina; Nasisi, Oscar Herminio; Mut, Vicente Antonio
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Pérez Berenguer, María Elisa. 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: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; 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: Nasisi, Oscar Herminio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
Vision Based Interface
Assistance Robot
Non Linear Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/22985
Acceder
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repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Vision-based interface applied to assistive robotsPérez Berenguer, María ElisaSoria, Carlos MiguelLópez Celani, Natalia MartinaNasisi, Oscar HerminioMut, Vicente AntonioVision Based InterfaceAssistance RobotNon Linear Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Pérez Berenguer, María Elisa. 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: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; 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: Nasisi, Oscar Herminio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaSage Publications2012-10info: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/11336/22985Pérez 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; 1-101729-88061729-8814CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.5772/53996info:eu-repo/semantics/altIdentifier/url/http://journals.sagepub.com/doi/10.5772/53996info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T14:52:30Zoai:ri.conicet.gov.ar:11336/22985instacron: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 14:52:31.217CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Vision-based interface applied to assistive robots
title Vision-based interface applied to assistive robots
spellingShingle Vision-based interface applied to assistive robots
Pérez Berenguer, María Elisa
Vision Based Interface
Assistance Robot
Non Linear Control
title_short Vision-based interface applied to assistive robots
title_full Vision-based interface applied to assistive robots
title_fullStr Vision-based interface applied to assistive robots
title_full_unstemmed Vision-based interface applied to assistive robots
title_sort Vision-based interface applied to assistive robots
dc.creator.none.fl_str_mv Pérez Berenguer, María Elisa
Soria, Carlos Miguel
López Celani, Natalia Martina
Nasisi, Oscar Herminio
Mut, Vicente Antonio
author Pérez Berenguer, María Elisa
author_facet Pérez Berenguer, María Elisa
Soria, Carlos Miguel
López Celani, Natalia Martina
Nasisi, Oscar Herminio
Mut, Vicente Antonio
author_role author
author2 Soria, Carlos Miguel
López Celani, Natalia Martina
Nasisi, Oscar Herminio
Mut, Vicente Antonio
author2_role author
author
author
author
dc.subject.none.fl_str_mv Vision Based Interface
Assistance Robot
Non Linear Control
topic Vision Based Interface
Assistance Robot
Non Linear Control
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 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.
Fil: Pérez Berenguer, María Elisa. 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: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; 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: Nasisi, Oscar Herminio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description 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.
publishDate 2012
dc.date.none.fl_str_mv 2012-10
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/11336/22985
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
url http://hdl.handle.net/11336/22985
identifier_str_mv 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
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.5772/53996
info:eu-repo/semantics/altIdentifier/url/http://journals.sagepub.com/doi/10.5772/53996
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/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 Sage Publications
publisher.none.fl_str_mv Sage Publications
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_ 1846083053677445120
score 13.22299

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