Robotic platforms are a great solution to ensure assistance and rehabilitation for disabled people using human-robot interaction capabilities. However, safe path planning trajectories are required by the robotic platform to avoid any collision between the human and the robot during the assistance or rehabilitation process. This paper proposes an intelligent robotic system that supervises the environment using 3D data from an RGB-Depth sensor and performs safe trajectories of the collaborative robot manipulator. Human-robot interactions are focused on upper-limb rehabilitation exercises about reaching a point using a collaborative robot UR3. Finally, several planning algorithms from Open Motion Planning Library (OMPL) are evaluated in order to obtain some metrics of the human-robot interaction and to find out the best one.
RGBD Data Analysis for the Evaluation of Trajectory Planning Algorithms in Human Robot Interaction Environments for Rehabilitation
Lect. Notes in Networks, Syst.
Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022
2022-11-19
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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