Visual servoing of patient robot's face and eye-looking direction to moving human

We have presented a system of patient robot developed with the aim at improving abilities of nursing student's medical treatment, such as injection to vein. To make patient robot human-like behavior, we have applied chaotic motion to the patient robot's behavior. In this paper, we propose visual servoing to follow a human face by 3-D pose recognition and eye-looking direction to moving human. Moreover, to evaluate the effectiveness of visual servoing, we execute an experiment that patient robot make behaves like a human by visual servoing with camera image.