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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    RGBD Data Analysis for the Evaluation of Trajectory Planning Algorithms in Human Robot Interaction Environments for Rehabilitation


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Tardioli, Danilo (Herausgeber:in) / Matellán, Vicente (Herausgeber:in) / Heredia, Guillermo (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Marques, Lino (Herausgeber:in) / Hernández, Óscar G. (Autor:in) / Morell, Vicente (Autor:in) / Ramon, José L. (Autor:in) / Garcia, Gabriel J. (Autor:in) / Jara, Carlos A. (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Erscheinungsdatum :

    2022-11-19


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments

    Alenyà Ribas, Guillem / Foix Salmerón, Sergi / Torras, Carme | BASE | 2014

    Freier Zugriff

    Using ToF and RGBD cameras for 3D robot perception and manipulation in human environments

    Alenyà, Guillem / Foix, Sergi / Torras, Carme | BASE | 2014

    Freier Zugriff

    Kinematics Analysis and Trajectory Planning of Upper Limb Rehabilitation Robot

    Wang, Zhiming / Chang, Yanyan / Sui, Xueting | IEEE | 2017


    Task-Based Trajectory Planning for an Exoskeleton Upper Limb Rehabilitation Robot

    Meng, Qiaoling / Shao, Haicun / Wang, Lulu et al. | Springer Verlag | 2018