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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Cheng-Shiu Chung Hongwu Wang Cooper, R.A. |
| Copyright Year | 2013 |
| Description | Author affiliation: Dept. of Veterans Affairs, Human Eng. Res. Labs., Pittsburgh, PA, USA (Cheng-Shiu Chung; Hongwu Wang; Cooper, R.A.) |
| Abstract | Autonomous functions for wheelchair-mounted robotic manipulators (WMRMs) allow a user to focus more on the outcome from the task - for example, eating or drinking, instead of moving robot joints through user interfaces. In this paper, we introduce a novel personal assistive robotic system based on a position-based visual servoing (PBVS) approach. The system was evaluated with a complete drinking task, which included recognizing the location of the drink, picking up the drink from a start location, conveying the drink to the proximity of the user's mouth without spilling, and placing the drink back on the table. For a drink located in front of the wheelchair, the success rate was nearly 100%. Overall, the total time of completing drinking task is within 40 seconds. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 4213516 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467360227 |
| ISSN | 19457901 |
| e-ISBN | 9781467360241 |
| DOI | 10.1109/ICORR.2013.6650378 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | object recognition wheelchair Wheelchairs robotics Cameras Planning Trajectory path planning Mobile robots Grippers manipulation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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