An application framework for measuring the performance of a visual servo control of a reaching task for the visually impaired

In this work, we propose a framework that can provide performance metrics with regards to the usability of an assistive device designed to provide visual servoing of a reaching task performed by a visually impaired individual. The framework provides a model and methodology from which performance metrics can be synthesized based on robotic manipular kinematics and an adaptation of Fitts´ law for reaching task motions in a 3D environment. The purpose of which is to facilitate an understanding of how well the system´s design accommodates the user´s natural movement style when performing the reaching task. Use of advances in visual tracking techniques employing scale, view-point, and illumination invariant features are incorporated to allow for a further decoupling of the feature space from the joint-level control space.