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Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking
People with severe motor impairments like tetraplegia are restricted in activities of daily living (ADL) and are dependent on continuous human assistance. Assistive robots perform physical tasks in the context of ADLs to support people in need of assistance. In this work a sensor fusion algorithm an...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8401834/ https://www.ncbi.nlm.nih.gov/pubmed/34450861 http://dx.doi.org/10.3390/s21165419 |
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author | Try, Pieter Schöllmann, Steffen Wöhle, Lukas Gebhard, Marion |
author_facet | Try, Pieter Schöllmann, Steffen Wöhle, Lukas Gebhard, Marion |
author_sort | Try, Pieter |
collection | PubMed |
description | People with severe motor impairments like tetraplegia are restricted in activities of daily living (ADL) and are dependent on continuous human assistance. Assistive robots perform physical tasks in the context of ADLs to support people in need of assistance. In this work a sensor fusion algorithm and a robot control algorithm for localizing the user’s mouth and autonomously navigating a robot arm are proposed for the assistive drinking task. The sensor fusion algorithm is implemented in a visual tracking system which consists of a 2-D camera and a single point time-of-flight distance sensor. The sensor fusion algorithm utilizes computer vision to combine camera images and distance measurements to achieve reliable localization of the user’s mouth. The robot control algorithm uses visual servoing to navigate a robot-handled drinking cup to the mouth and establish physical contact with the lips. This system features an abort command that is triggered by turning the head and unambiguous tracking of multiple faces which enable safe human robot interaction. A study with nine able-bodied test subjects shows that the proposed system reliably localizes the mouth and is able to autonomously navigate the cup to establish physical contact with the mouth. |
format | Online Article Text |
id | pubmed-8401834 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84018342021-08-29 Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking Try, Pieter Schöllmann, Steffen Wöhle, Lukas Gebhard, Marion Sensors (Basel) Article People with severe motor impairments like tetraplegia are restricted in activities of daily living (ADL) and are dependent on continuous human assistance. Assistive robots perform physical tasks in the context of ADLs to support people in need of assistance. In this work a sensor fusion algorithm and a robot control algorithm for localizing the user’s mouth and autonomously navigating a robot arm are proposed for the assistive drinking task. The sensor fusion algorithm is implemented in a visual tracking system which consists of a 2-D camera and a single point time-of-flight distance sensor. The sensor fusion algorithm utilizes computer vision to combine camera images and distance measurements to achieve reliable localization of the user’s mouth. The robot control algorithm uses visual servoing to navigate a robot-handled drinking cup to the mouth and establish physical contact with the lips. This system features an abort command that is triggered by turning the head and unambiguous tracking of multiple faces which enable safe human robot interaction. A study with nine able-bodied test subjects shows that the proposed system reliably localizes the mouth and is able to autonomously navigate the cup to establish physical contact with the mouth. MDPI 2021-08-11 /pmc/articles/PMC8401834/ /pubmed/34450861 http://dx.doi.org/10.3390/s21165419 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Try, Pieter Schöllmann, Steffen Wöhle, Lukas Gebhard, Marion Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title | Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title_full | Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title_fullStr | Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title_full_unstemmed | Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title_short | Visual Sensor Fusion Based Autonomous Robotic System for Assistive Drinking |
title_sort | visual sensor fusion based autonomous robotic system for assistive drinking |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8401834/ https://www.ncbi.nlm.nih.gov/pubmed/34450861 http://dx.doi.org/10.3390/s21165419 |
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