Visual servoing for a user's mouth with effective intention reading in a wheelchair-based robotic arm
Visual servoing for a user's mouth with effective intention reading in a wheelchair-based robotic arm
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在基于轮椅的机械臂中对用户的嘴进行视觉伺服，并有效地读取意图
DOI：
10.1109/robot.2001.933187
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
Zeungnam Bien
中科院分区：
文献类型：
--
作者：
Won;Dae;Jong;Zeungnam Bien
意向阅读是人性化康复机器人的基本功能之一。首先，介绍了一种新型轮椅机械臂系统KARES II的总体结构及其人机交互技术。在这些技术中，我们专注于视觉伺服，允许这个机械臂通过视觉反馈自主操作。在为用户服务时，基于与用户意图强烈相关的嘴唇周围面部表情的变化来执行有效的意图阅读，例如识别用户的积极和消极意义。为了高效地进行视觉信息处理，采用对数极坐标映射图像来控制位于机械臂末端执行器中的立体摄像头。具有有效意向阅读的视觉伺服成功地应用于为用户提供饮料。
Intention reading is one of the essential functions of human-friendly rehabilitation robots. First, the overall structure of a new wheelchair-based robotic arm system, KARES II, and its human-robot interaction technologies are presented. Among those technologies, we concentrate on visual servoing that allows this robotic arm to operate autonomously via visual feedback. Effective intention reading, such as recognizing the positive and negative meaning of the user, is performed on the basis of changes of the facial expression around lips that is strongly related to the user's intention while serving the user. For the efficient visual information processing, log-polar mapped images are used to control the stereo camera head that is located in the end-effector of the robotic arm. The visual servoing with effective intention reading was successfully applied to serve a beverage for the user.