RT Conference Proceedings
T1 Absolute position calculation for a desktop mobile rehabilitation robot based on three optical mouse sensors
A1 Zabaleta, Haritz
A1 Valencia, David
A1 Perry, Joel
A1 Veneman, Jan
A1 Keller, Thierry
AB 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
SN 978-1-4244-4122-8
YR 2011
FD 2011
LA eng
NO 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 unknown .
DS TECNALIA Publications
RD 1 jul 2024