Sempere AD, Serna-Leon A, Gil P, Puente S, Torres F. Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home.
SENSORS 2015;
15:31268-92. [PMID:
26690448 PMCID:
PMC4721773 DOI:
10.3390/s151229853]
[Citation(s) in RCA: 6] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/18/2015] [Revised: 12/03/2015] [Accepted: 12/04/2015] [Indexed: 11/24/2022]
Abstract
This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.
Collapse