Absolute position calculation for a desktop mobile rehabilitation robot based on three optical mouse sensors

Thumbnail Image
Files
Zabaleta2011c_Optical_Mice_Position.pdf (1.93 MB)
Identifiers
URI: http://hdl.handle.net/11556/18
ISBN: 978-1-4244-4122-8
Publication date
2011
Authors
Advisors
Journal Title
Journal ISSN
Volume Title
Publisher
Citations
Google Scholar
Export
Research Projects
Organizational Units
Journal Issue
Abstract
ArmAssist is a wireless robot for after stroke upper limb rehabilitation. In this paper, we describe a method based on artificial landmark navigation system. The navigation system is only based in three optical mouse sensors. This enables to build a cheap but reliable position sensor. Two of the sensors are the data source for odometry calculations, and the third optical mouse sensor takes very low resolution pictures of a custom designed mat. These pictures are processed by an optical symbol recognition algorithm which will estimate the orientation of the robot and recognize the landmarks placed on the mat. The data fusion strategy is described to detect the misclassifications of the landmarks in order to fuse only the reliable information. The orientation given by the OSR algorithm is used to improve significantly the odometry and the recognition of the landmarks is used to reference the odometry to a absolute coordinate system
Description
Keywords
Optical Sensors , Positioning system , Rehabilitation robotics
Type
conference output
Citation
Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE