Robotic exoskeletons are being increasingly and successfully used in neuro-rehabilitation therapy scenarios. Indeed, they allow patients to perform movements requiring more complex inter-joint coordination and gravity counterbalancing, including assisted object grasping. We propose a robust RGB-D camera-based approach for automated tracking of both still and moving objects that can be used for assisting the reaching/grasping tasks in the aforementioned scenarios. The proposed approach allows to work with non pre-processed objects, giving the possibility to propose a flexible therapy. Moreover, our system is specialized to estimate the pose of cylinder-like shaped objects to allow cylinder grasps with the help of a robotic hand orthosis.To validate our method both in terms of tracking and of reaching/ grasping performances, we present the results achieved conducting tests both on simulations and on real robotic-assisted tasks performed by a patient.

A robust real-time 3D tracking approach for assisted object grasping / Loconsole, Claudio; Stroppa, Fabio; Bevilacqua, Vitoantonio; Frisoli, Antonio - In: Haptics: Neuroscience, Devices, Modeling, and Applications : 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014. Proceedings, Part I / [a cura di] Auvray, M; Duriez, C. - STAMPA. - Berlin; Heidelberg : Springer, 2014. - ISBN 978-3-662-44192-3. - pp. 400-408 [10.1007/978-3-662-44193-0_50]

A robust real-time 3D tracking approach for assisted object grasping

Loconsole, Claudio;Bevilacqua, Vitoantonio;
2014-01-01

Abstract

Robotic exoskeletons are being increasingly and successfully used in neuro-rehabilitation therapy scenarios. Indeed, they allow patients to perform movements requiring more complex inter-joint coordination and gravity counterbalancing, including assisted object grasping. We propose a robust RGB-D camera-based approach for automated tracking of both still and moving objects that can be used for assisting the reaching/grasping tasks in the aforementioned scenarios. The proposed approach allows to work with non pre-processed objects, giving the possibility to propose a flexible therapy. Moreover, our system is specialized to estimate the pose of cylinder-like shaped objects to allow cylinder grasps with the help of a robotic hand orthosis.To validate our method both in terms of tracking and of reaching/ grasping performances, we present the results achieved conducting tests both on simulations and on real robotic-assisted tasks performed by a patient.
2014
Haptics: Neuroscience, Devices, Modeling, and Applications : 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014. Proceedings, Part I
978-3-662-44192-3
Springer
A robust real-time 3D tracking approach for assisted object grasping / Loconsole, Claudio; Stroppa, Fabio; Bevilacqua, Vitoantonio; Frisoli, Antonio - In: Haptics: Neuroscience, Devices, Modeling, and Applications : 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014. Proceedings, Part I / [a cura di] Auvray, M; Duriez, C. - STAMPA. - Berlin; Heidelberg : Springer, 2014. - ISBN 978-3-662-44192-3. - pp. 400-408 [10.1007/978-3-662-44193-0_50]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11589/84247
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