Reflex control of a robotic aid system to assist the physically disabled
Reflex control of a robotic aid system to assist the physically disabled
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机器人辅助系统的反射控制以帮助身体残疾人
DOI：
10.1109/37.165521
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
M. El
中科院分区：
文献类型：
--
作者：
A. Kara;K. Kawamura;S. Bagchi;M. El
提出了一种用于身体残疾的机器人辅助装置，可帮助用户进食。机器人要给人喂食必须解决两个问题。首先，机器人必须持续跟踪人脸的位置。其次，如果人突然移动，机器人必须能够闪开。第一个问题是通过实时计算人脸位置的机器视觉子系统解决的。第二个问题需要机器人的反射动作。已经实现了基于分层控制架构的反射动作。这两个问题都需要预测和跟踪人体运动的能力。<<ETX>>
A robotic aid for the physically disabled that assists a user in feeding is presented. Two problems must be solved for a robot to feed a person. First, the robot must continually track the position of the person's face. Second, the robot must be able to get out of the way if the person moves suddenly. The first problem is solved with a machine-vision subsystem that computes the position of the person's face in real-time. The second problem requires reflex action on the part of the robot. Reflex action based on a layered control architecture has been implemented. Both problems require the ability to predict and follow human motion.<<ETX>>