Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Wearable Robot System Enabling Gaze Tracking and 3D Position Acquisition for Assisting a Disabled Person with Disabled Limbs

시선위치 추적기법 및 3차원 위치정보 획득이 가능한 사지장애인 보조용 웨어러블 로봇 시스템

  • Seo, Hyoung Kyu (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Jun Cheol (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Jung, Jin Hyung (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology) ;
  • Kim, Dong Hwan (Dept. of Mechanical System Design Engineering, Seoul Nat'l Univ. of Science and Technology)
  • 서형규 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김준철 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 정진형 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김동환 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2013.03.06
  • Accepted : 2013.08.12
  • Published : 2013.10.01
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Abstract

A new type of wearable robot is developed for a disabled person with disabled limbs, that is, a person who cannot intentionally move his/her legs and arms. This robot can enable the disabled person to grip an object using eye movements. A gaze tracking algorithm is employed to detect pupil movements by which the person observes the object to be gripped. By using this gaze tracking 2D information, the object is identified and the distance to the object is measured using a Kinect device installed on the robot shoulder. By using several coordinate transformations and a matching scheme, the final 3D information about the object from the base frame can be clearly identified, and the final position data is transmitted to the DSP-controlled robot controller, which enables the target object to be gripped successfully.

눈 움직임만으로 물건을 집고자 하는 사지장애자를 위한 웨어러블 로봇을 소개한다. 이 로봇에서는 시선위치추적 알고리즘을 적용하여 파지하고자 하는 물체를 보는 동공의 움직임을 확인하여 물체의 2차원 정보를 구하고 물체까지의 깊이는 로봇 어깨위에 올려져 있는 Kinect라는 장치를 사용하여 구한다. 물체와 로봇, 그리고 카메라간의 좌표변환과 매칭을 통하여 최종 물체의 3차원 정보를 추출하고 이 정보는 로봇제어기인 DSP로 전송되어 물체를 잡을 수 있도록 제어하게 되어 궁극적으로 사용자가 물체를 정확히 잡을 수 있도록 한다.

Keywords

References

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