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Three Dimentional Computer Vision-Based Alternative Control Method for Assistive Robotic Manipulator

Ka, Hyun and Ding, Dan and Cooper, Rory A (2016) Three Dimentional Computer Vision-Based Alternative Control Method for Assistive Robotic Manipulator. Symbiosis, 1 (1). (In Press)

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Abstract

JACO (Kinova Technology, Montreal, QC, Canada) is an assistive robotic manipulator that is gaining popularity for its ability to assist individuals with physical impairments in activities of daily living. To accommodate a wider range of user population especially those with severe physical limitations, alternative control methods need to be developed. In this paper, we presented a vision-based assistive robotic manipulation assistance algorithm (AROMA) for JACO, which uses a low-cost 3D depth sensing camera and an improved inverse kinematic algorithm to enable semi-autonomous or autonomous operation of the JACO. The benchtop tests on a series of grasping tasks showed that the AROMA was able to reliably determine target gripper poses. The success rates for the grasping tasks ranged from 85% to 100% for different objects.


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Details

Item Type: Article
Status: In Press
Creators/Authors:
CreatorsEmailPitt UsernameORCID
Ka, Hyunhyk21@pitt.eduHYK21
Ding, Dandad5@pitt.eduDAD5
Cooper, Rory ARCOOPER@pitt.eduRCOOPER
Centers: Other Centers, Institutes, or Units > Human Engineering Research Laboratories
Date: February 2016
Date Type: Publication
Access Restriction: No restriction; Release the ETD for access worldwide immediately.
Journal or Publication Title: Symbiosis
Volume: 1
Number: 1
Publisher: SOJ Robotics & Automation (SOJRA)
Institution: University of Pittsburgh
Schools and Programs: School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed: Yes
Official URL: http://www.symbiosisonlinepublishing.com/robotics-...
Related URLs:
Funders: Craig H. Neilsen foundation()
Article Type: Research Article
Date Deposited: 29 Feb 2016 14:47
Last Modified: 30 Oct 2018 12:59
URI: http://d-scholarship.pitt.edu/id/eprint/26814

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