Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics
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. Th...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2013/589636 |
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| _version_ | 1832554435866263552 |
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| author | Elisa Perez Natalia López Eugenio Orosco Carlos Soria Vicente Mut Teodiano Freire-Bastos |
| author_facet | Elisa Perez Natalia López Eugenio Orosco Carlos Soria Vicente Mut Teodiano Freire-Bastos |
| author_sort | Elisa Perez |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-8ae868d788ff42b1a49730b8f8a7fd64 |
| institution | Kabale University |
| issn | 1537-744X |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-8ae868d788ff42b1a49730b8f8a7fd642025-02-03T05:51:30ZengWileyThe Scientific World Journal1537-744X2013-01-01201310.1155/2013/589636589636Robust Human Machine Interface Based on Head Movements Applied to Assistive RoboticsElisa Perez0Natalia López1Eugenio Orosco2Carlos Soria3Vicente Mut4Teodiano Freire-Bastos5Gabinete de Tecnología Médica, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, ArgentinaGabinete de Tecnología Médica, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, ArgentinaInstituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, ArgentinaInstituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, ArgentinaInstituto de Automática, Facultad de Ingeniería, Universidad Nacional de San Juan, 5400 San Juan, ArgentinaDepartamento de Engenharia Elétrica, Universidade Federal do Espírito Santo, 29075910 Vitoria, ES, BrazilThis 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.http://dx.doi.org/10.1155/2013/589636 |
| spellingShingle | Elisa Perez Natalia López Eugenio Orosco Carlos Soria Vicente Mut Teodiano Freire-Bastos Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics The Scientific World Journal |
| title | Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics |
| title_full | Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics |
| title_fullStr | Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics |
| title_full_unstemmed | Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics |
| title_short | Robust Human Machine Interface Based on Head Movements Applied to Assistive Robotics |
| title_sort | robust human machine interface based on head movements applied to assistive robotics |
| url | http://dx.doi.org/10.1155/2013/589636 |
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