Robust human machine interface based on head movements applied to assistive robotics

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Robust human machine interface based on head movements applied to assistive robotics

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Perez, Elisa / López Celani, Natalia Martina / Orosco, Eugenio Conrado / Soria, Carlos Miguel / Mut, Vicente Antonio / Freire Bastos, Teodiano

Abstract

This paper presents an interface that uses two different sensing techniques and combines both results through a fusion process to obtain the minimum-variance estimator of the orientation of the user’s head. Sensing techniques of the interface are based on an inertial sensor and artificial vision. The orientation of the user’s head is used to steer the navigation of a robotic wheelchair. Also, a control algorithm for assistive technology system is presented. The system is evaluated by four individuals with severe motors disability and a quantitative index was developed, in order to objectively evaluate the performance. The results obtained are promising since most users could perform the proposed tasks with the robotic wheelchair. ; Fil: Perez, Elisa. Universidad Nacional de San Juan. Facultad de Ingeniería. Departamento de Electrónica y Automática. Gabinete de Tecnología Médica; 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: Orosco, Eugenio Conrado. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina ; Fil: Freire Bastos, Teodiano. Universidade Federal do Espírito Santo; Brasil

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Document information

Title :

Robust human machine interface based on head movements applied to assistive robotics

Contributors:

Perez, Elisa (author) / López Celani, Natalia Martina (author) / Orosco, Eugenio Conrado (author) / Soria, Carlos Miguel (author) / Mut, Vicente Antonio (author) / Freire Bastos, Teodiano (author)

Remarks:

CONICET

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

Robotic wheelchair , Sensor fusion , Vision based interface , Inertial sensor , Ingeniería de Sistemas y Comunicaciones , Ingeniería Eléctrica , Ingeniería Electrónica e Ingeniería de la Información , INGENIERÍAS Y TECNOLOGÍAS

Classification :

DDC: