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Intelligent Lead: A Novel HRI Sensor for Guide Robots

This paper addresses the introduction of a new Human Robot Interaction (HRI) sensor for guide robots. Guide robots for geriatric patients or the visually impaired should follow user's control command, keeping a certain desired distance allowing the user to work freely. Therefore, it is necessar...

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Detalles Bibliográficos
Autores principales: Cho, Keum-Bae, Lee, Beom-Hee
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2012
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3436030/
https://www.ncbi.nlm.nih.gov/pubmed/22969401
http://dx.doi.org/10.3390/s120608301
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author Cho, Keum-Bae
Lee, Beom-Hee
author_facet Cho, Keum-Bae
Lee, Beom-Hee
author_sort Cho, Keum-Bae
collection PubMed
description This paper addresses the introduction of a new Human Robot Interaction (HRI) sensor for guide robots. Guide robots for geriatric patients or the visually impaired should follow user's control command, keeping a certain desired distance allowing the user to work freely. Therefore, it is necessary to acquire control commands and a user's position on a real-time basis. We suggest a new sensor fusion system to achieve this objective and we will call this sensor the “intelligent lead”. The objective of the intelligent lead is to acquire a stable distance from the user to the robot, speed-control volume and turn-control volume, even when the robot platform with the intelligent lead is shaken on uneven ground. In this paper we explain a precise Extended Kalman Filter (EKF) procedure for this. The intelligent lead physically consists of a Kinect sensor, the serial linkage attached with eight rotary encoders, and an IMU (Inertial Measurement Unit) and their measurements are fused by the EKF. A mobile robot was designed to test the performance of the proposed sensor system. After installing the intelligent lead in the mobile robot, several tests are conducted to verify that the mobile robot with the intelligent lead is capable of achieving its goal points while maintaining the appropriate distance between the robot and the user. The results show that we can use the intelligent lead proposed in this paper as a new HRI sensor joined a joystick and a distance measure in the mobile environments such as the robot and the user are moving at the same time.
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spelling pubmed-34360302012-09-11 Intelligent Lead: A Novel HRI Sensor for Guide Robots Cho, Keum-Bae Lee, Beom-Hee Sensors (Basel) Article This paper addresses the introduction of a new Human Robot Interaction (HRI) sensor for guide robots. Guide robots for geriatric patients or the visually impaired should follow user's control command, keeping a certain desired distance allowing the user to work freely. Therefore, it is necessary to acquire control commands and a user's position on a real-time basis. We suggest a new sensor fusion system to achieve this objective and we will call this sensor the “intelligent lead”. The objective of the intelligent lead is to acquire a stable distance from the user to the robot, speed-control volume and turn-control volume, even when the robot platform with the intelligent lead is shaken on uneven ground. In this paper we explain a precise Extended Kalman Filter (EKF) procedure for this. The intelligent lead physically consists of a Kinect sensor, the serial linkage attached with eight rotary encoders, and an IMU (Inertial Measurement Unit) and their measurements are fused by the EKF. A mobile robot was designed to test the performance of the proposed sensor system. After installing the intelligent lead in the mobile robot, several tests are conducted to verify that the mobile robot with the intelligent lead is capable of achieving its goal points while maintaining the appropriate distance between the robot and the user. The results show that we can use the intelligent lead proposed in this paper as a new HRI sensor joined a joystick and a distance measure in the mobile environments such as the robot and the user are moving at the same time. Molecular Diversity Preservation International (MDPI) 2012-06-14 /pmc/articles/PMC3436030/ /pubmed/22969401 http://dx.doi.org/10.3390/s120608301 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Cho, Keum-Bae
Lee, Beom-Hee
Intelligent Lead: A Novel HRI Sensor for Guide Robots
title Intelligent Lead: A Novel HRI Sensor for Guide Robots
title_full Intelligent Lead: A Novel HRI Sensor for Guide Robots
title_fullStr Intelligent Lead: A Novel HRI Sensor for Guide Robots
title_full_unstemmed Intelligent Lead: A Novel HRI Sensor for Guide Robots
title_short Intelligent Lead: A Novel HRI Sensor for Guide Robots
title_sort intelligent lead: a novel hri sensor for guide robots
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3436030/
https://www.ncbi.nlm.nih.gov/pubmed/22969401
http://dx.doi.org/10.3390/s120608301
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