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

摘要：

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 evalute 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.

作者: C. Loconsole R. Bartalucci A. Frisoli M. Bergamasco

作者单位: Perceptual Robotics Lab (PERCRO),Scuola Superiore SantAnna,Pisa,Italy Scuola Superiore SantAnna,Pisa,Italy

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1445-1450

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）