NDLI: An Intelligent Assistive Robotic Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Farahmand, F. Pourazad, M.T. Moussavi, Z.
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Manitoba Univ., Winnipeg, Man. (Farahmand, F.; Pourazad, M.T.; Moussavi, Z.)
Abstract	This paper presents the design of an automatic and intelligent robot arm for object grasping for people on wheelchair with mild to severe disabilities. The system is equipped with stereovision detection in order to distinguish different objects from the background. The robot arm has been designed with 6 degrees of action to grasp the detected object from the floor and bring it in front of the user. Two precalibrated digital cameras, facing downward, simultaneously take pictures of the surface where the object is located. Then by applying a new and robust 3D object detection method, the height, location and orientation of the object with respect to the robot's base point are found. The resulting rotation periods are transferred through a designated electronic driver board to the joints' motors via the PC parallel port. Overall, the system detects the object, moves the robot arm to the location of the object, grasps it, moves it to a predefined position in front of the user, releases the object and finally returns to its home position. The system is automatic and is operated by only one command
Starting Page	5028
Ending Page	5031
File Size	413570
Page Count	4
File Format	PDF
ISBN	0780387414
DOI	10.1109/IEMBS.2005.1615605
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-01-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Manipulators Object detection Mobile robots Pixel Surface morphology Wrist Medical robotics Biomedical engineering Biology computing assistive robot arm 3D object detection morphological image processing interface board
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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