Intuitive human interaction with an arm robot for severely handicapped people - A One Click Approach

摘要

Assistance to disabled people is still a domain in which a lot of progress needs to be done. The more severe the handicap is, more complex are the devices, implying increased efforts to simplify the interactions between man and these devices. In this document we propose a solution to reduce the interaction between a user and a robotic arm. The system is equipped with two cameras. One is fixed on the top of the wheelchair (eye-to-hand) and the other one is mounted on the end effector of the robotic arm (eye-in-hand). The two cameras cooperate to reduce the grasping task to "one click". The method is generic, it does not require marks on the object, geometrical model or the database. It thus provides a tool applicable to any kind of graspable object. The paper first gives an overview of the existing grasping tools for disabled people and proposes a novel approach toward an intuitive human machine interaction.