Visual servoing based on space variant vision for human-robot interaction in rehabilitation robots

Visual servoing gives autonomous capabilities to a rehabilitation robot for human-robot interaction. Though several visual-based control techniques have been proposed in rehabilitation systems, it is not easy to get the accurate visual information of a target, i.e., depth, in real-time. Specially, the depth information of a target, such as the distance between a user and a robotic arm, is closely related to a user´s safety. As a remedy for this situation, visual servoing based on space variant vision is proposed for an eye-in-hand camera configuration. Space variant vision with vergence movements of a binocular camera head can provides well a robotic arm with depth information. In addition, a small and light-weighted camera head is designed and implemented