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

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ISSN: 1557-170X
ISBN: 9781424441211
DOI: 10.1109/IEMBS.2011.6090383
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2011
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Abstract
ArmAssist is a wireless robot for post stroke upper limb rehabilitation. Knowing the position of the arm is essential for any rehabilitation device. In this paper, we describe a method based on an artificial landmark navigation system. The navigation system uses three optical mouse sensors. This enables the building of 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 reliable information. The orientation given by the optical symbol recognition (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. The system was tested using a 3D motion capture system. With the actual mat configuration, in a field of motion of 710 450 mm, the maximum error in position estimation was 49.61 mm with an average error of 36.70 22.50 mm. The average test duration was 36.5 seconds and the average path length was 4173 mm.
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Optical Sensors , Positioning system , Rehabilitation robotics , Optical Sensors , Positioning system , Rehabilitation robotics , Signal Processing , Biomedical Engineering , Computer Vision and Pattern Recognition , Health Informatics , SDG 3 - Good Health and Well-being , Funding Info , FIK , FIK
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Zabaleta , H , Valencia , D , Perry , J , Veneman , J & Keller , T 2011 , Absolute position calculation for a desktop mobile rehabilitation robot based on three optical mouse sensors . in 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 . , 6090383 , Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS , pp. 2069-2072 , 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 , Boston, MA , United States , 30/08/11 . https://doi.org/10.1109/IEMBS.2011.6090383
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