Reflex control of a robotic aid system to assist the physically disabled

Author

Kara, Atsushi ; Kawamura, Kazuhiko ; Bagchi, Sugato ; El-Gamal, Mourad

Author_Institution

Center for Intelligent Syst., Vanderbilt Univ., Nashville, TN, USA

Volume

12

Issue

3

fYear

1992

fDate

6/1/1992 12:00:00 AM

Firstpage

71

Lastpage

77

Abstract

A robotic aid for the physically disabled that assists a user in feeding is presented. Two problems must be solved for a robot to feed a person. First, the robot must continually track the position of the person´s face. Second, the robot must be able to get out of the way if the person moves suddenly. The first problem is solved with a machine-vision subsystem that computes the position of the person´s face in real-time. The second problem requires reflex action on the part of the robot. Reflex action based on a layered control architecture has been implemented. Both problems require the ability to predict and follow human motion.<>

Keywords

computer vision; handicapped aids; position control; robots; handicapped aids; layered control architecture; machine-vision; position control; real-time; reflex control; robot; robotic aid; Contracts; Control systems; Costs; Feeds; Hospitals; Humans; Intelligent robots; Intelligent systems; Robot control; Robot vision systems;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.165521

Filename

165521