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An online trajectory planning method for visually guided assisted reaching through a rehabilitation robot

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4 Author(s)
Loconsole, C. ; Perceptual Robot. Lab. (PERCRO), Scuola Superiore SantAnna, Pisa, Italy ; Bartalucci, R. ; Frisoli, A. ; Bergamasco, M.

Several manipulators or exoskeleton are characterized by having a concave workspace in the operational space due to mechanical limits. This article proposes an online trajectory planning method for performing visually guided assisted reaching through a rehabilitation robotic exoskeleton, the L-Exos, in its concave workspace. To evaluate the proposed methodology in a rehabilitation application, we set-up a computer vision based system that can automatically identify target objects in the workspace and generate a robot assisted movement to reach them through the L-Exos.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011