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The complexity of hand function is such that most existing upper limb rehabilitation robotic devices use only simplified hand interfaces. This is in contrast to the importance of the hand in regaining function after neurological injury. Computer vision technology has been used to identify hand posture in the field of Human Computer Interaction, but this approach has not been translated to the rehabilitation...
One of the most challenging problems of field robots is self-localization, which involves incremental update of position while in motion. Though wheel based odometry is cheaper to implement its accuracy degrades when wheels slip. In this paper performance of low-cost visual odometry approach is experimented as a feasibility test for field robot localization. We have used a downward-facing camera and...
Dependable 3D perception modules are essential for safe operation of robotic platforms. Furthermore, robot navigation and localization as well as object recognition tasks also require processing 2D color camera images. This information could be synchronously delivered by stereo vision sensors with the 3D information automatically mapped onto the 2D camera image. However, embedded real-time stereo...
We propose a novel approach for robot movement imitation that is suitable for robotic arm movement in tasks such as reaching and grasping. This algorithm selects a previously observed path demonstrated by an agent and generates a path in a novel situation based on pairwise mapping of invariant feature locations present in both the demonstrated and the new scenes using minimum distortion and minimum...
A vision based, three dimensional position sensing system was constructed and used to measure the positioning accuracy of an articulated robot arm. With a twenty-five millimeter lens, the sensor achieved a sensitivity of 0.004 inches for measurements along the focal axis of the camera and 0.001 inches for measurements perpendicular to the focal axis. The system was used to optically define a reference...
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