[Peri-navel intestinal patch-like choristia (author's transl)].

Abstract

The rehabilitation robot Manus is an assistive device for severely motor handicapped users. The executing of all day living tasks with the Manus, can be very complex and a vision-based controller can simplify this. The lack of existing vision-based controlled systems, is the poor reliability of the computer vision in unstructured environments. In this paper, a computer vision solution is presented, which can estimate realtime the pose of an object and co-operate with a vision-based controller. The computer vision is robust to illumination changes, a varying scale and rotation and is robust to occlusion. The computer vision is mainly based on the SIFT-algorithm and the usage of a 3D-model of an object. Important steps to create this 3D-model are discussed. The detection and recognition of the required SIFT-keypoints, has become realtime, by exchanging redundancy against calculation time. With a position-based visual servoing controller, the Manus can be positioned with respect to an object.