Hairong Jiang, Juan P. Wachs and Bradley S. Duerstock
The purpose of this paper is to develop an integrated, computer vision-based system to operate a commercial wheelchair-mounted robotic manipulator (WMRM). In addition, a gesture…
Abstract
Purpose
The purpose of this paper is to develop an integrated, computer vision-based system to operate a commercial wheelchair-mounted robotic manipulator (WMRM). In addition, a gesture recognition interface system was developed specially for individuals with upper-level spinal cord injuries including object tracking and face recognition to function as an efficient, hands-free WMRM controller.
Design/methodology/approach
Two Kinect® cameras were used synergistically to perform a variety of simple object retrieval tasks. One camera was used to interpret the hand gestures and locate the operator's face for object positioning, and then send those as commands to control the WMRM. The other sensor was used to automatically recognize different daily living objects selected by the subjects. An object recognition module employing the Speeded Up Robust Features algorithm was implemented and recognition results were sent as a commands for “coarse positioning” of the robotic arm near the selected object. Automatic face detection was provided as a shortcut enabling the positing of the objects close by the subject's face.
Findings
The gesture recognition interface incorporated hand detection, tracking and recognition algorithms, and yielded a recognition accuracy of 97.5 percent for an eight-gesture lexicon. Tasks’ completion time were conducted to compare manual (gestures only) and semi-manual (gestures, automatic face detection, and object recognition) WMRM control modes. The use of automatic face and object detection significantly reduced the completion times for retrieving a variety of daily living objects.
Originality/value
Integration of three computer vision modules were used to construct an effective and hand-free interface for individuals with upper-limb mobility impairments to control a WMRM.
Details
Keywords
Angi Martin and Julie Cox
With a push toward inclusion of students with disabilities in the general education classroom, students who are d/Deaf or hard of hearing (DHH) are exposed to greater educational…
Abstract
With a push toward inclusion of students with disabilities in the general education classroom, students who are d/Deaf or hard of hearing (DHH) are exposed to greater educational opportunities. Given the largely verbal nature of traditional classroom instruction, there has been a need for advancements in technology to provide more access to the material covered by teachers and in class discussions. In addition, the COVID-19 pandemic and the transition to virtual learning also brought to light many additional challenges for the DHH population, which can, in part, be lessened through technological advancements.