ICRA 2011 Paper Abstract

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Paper TuP108.5

Loconsole, Claudio (Scuola Superiore Sant'Anna), Bartalucci, Riccardo (Scuola Superiore Sant'Anna), Frisoli, Antonio (Scuola Superiore Sant'Anna), Bergamasco, Massimo (Scuola Superiore S.Anna)

An Online Trajectory Planning Method for Visually Guided Assisted Reaching through a Rehabilitation Robot

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics I" (TuP108), Tuesday, May 10, 2011, 14:40−14:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Rehabilitation Robotics, Motion Control of Manipulators, Haptics and Haptic Interfaces

Abstract

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.

 

 

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