Vision-Based Interfaces Applied to Assistive Robots

ELISA PEREZ; CARLOS M SORIA; NATALIA LOPEZ; OSCAR NASISI; VICENTE MUT

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

IN-TEH

Año: 2013 vol. 10 p. 1 - 10

1729-8806

This paper presents two vision‐based interfaces for disabled people to command a mobile robot for personal assistance. The developed interfaces can be subdivided according to the algorithm of image processing implemented for the detection and tracking of two different body regions. The first interface detects and tracks movements of the user’s head, and these movements are transformed into linear and angular velocities in order to command a mobile robot. The second interface detects and tracks movements of the user’s hand, and these movements are similarly transformed. In addition, this paper also presents the control laws for the robot. The experimental results demonstrate good performance and balance between complexity and feasibility for real‐time applications.