An online trajectory planning method for visually guided assisted reaching through a rehabilitation robot

Author

Loconsole, C. ; Bartalucci, R. ; Frisoli, A. ; Bergamasco, M.

Author_Institution

Perceptual Robot. Lab. (PERCRO), Scuola Superiore SantAnna, Pisa, Italy

fYear

2011

fDate

9-13 May 2011

Firstpage

1445

Lastpage

1450

Abstract

Several manipulators or exoskeleton are characterized by having a concave workspace in the operational space due to mechanical limits. This article proposes an online trajectory planning method for performing visually guided assisted reaching through a rehabilitation robotic exoskeleton, the L-Exos, in its concave workspace. To evaluate the proposed methodology in a rehabilitation application, we set-up a computer vision based system that can automatically identify target objects in the workspace and generate a robot assisted movement to reach them through the L-Exos.

Keywords

manipulator kinematics; medical robotics; object recognition; path planning; patient rehabilitation; position control; robot vision; L-Exos; computer vision based system; concave workspace; manipulator; mechanical limits; online trajectory planning method; rehabilitation robotic exoskeleton; robot assisted movement; target object identification; visually guided assisted reaching; Joints; Kinematics; Manipulators; Planning; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980469

Filename

5980469