Advanced Trajectory Generator for Two Carts with RGB-D Sensor on Circular Rail

Abstract

This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts' trajectory generation is to track a person's physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the two carts on the motorised circular rail in detail. Lastly, a study case is offered to show the performance of the described control algorithms for trajectory generation.

Artificial intelligence within the interplay between natural and artificial computation: Advances in data science, trends and applications

“…9). Considering the health care applications tackled, the application field faced (i) elder people with PD, exploring new paradigms of interaction [76], (ii) patients with deficits in facial affect recognition, designing therapies based on human avatars [77], (iii) people with disabilities in general, identifying the brain areas involved in processing emotions [78], (iv) people with visual and intellectual disabilities, reporting the effectiveness of using a game or a conversation on achieving a higher self-disclosure [79], (v) dependent people living at home, using a flying robot the monitor facial emotions [80] and a wearable to detect stress [81], and, (vi) people performing physical rehabilitation exercises, monitored from two carts equipped with an RGB-D camera each on a motorized circular rail [82].…”

“…One of the main goals of robotics is to assist people with disabilities [82]. In this sense, a robotic system consisting in a motorized circular rail that generates the motion of two carts with an RGB-D camera (depth sensor) can track a person's physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints.…”