Dynamic Path Planning Based on 3D Cloud Recognition for an Assistive Bathing Robot

Author:

Meng Qiaoling123ORCID,Kang Haolun123,Liu Xiaojin123,Yu Hongliu123

Affiliation:

1. Institution of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, No. 580, Jungong Road, Yangpu District, Shanghai 200093, China

2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China

3. Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China

Abstract

Assistive bathing robots have become a popular point due to their metrics, such as a humanoid working approach in the solution of elder care. However, the abilities of dynamic recognition and path planning are the key to obtain the advantages. This paper proposes a novel approach to recognize and track the dynamical human back, and path planning on it via a 3D point cloud. Firstly, the human back geometric features are recognized through coarse-to-fine alignment. The Intrinsic Shape Signature (ISS) algorithm combined with the Fast Point Feature Histogram (FPFH) and the Sample Consensus Initial Alignment (SAC-IA) algorithm are adopted to complete the coarse alignment, and the Iterative Closest Point (ICP) algorithm is applied to the fine alignment to improve the accuracy of recognition. Then, the dynamic transformation matrix between the contiguous recognized back is deduced based on spatial motion between two adjacent recognized back point clouds. The path can be planned on the tracked human back. Finally, a set of testing experiments are conducted to verify the proposed algorithm. The results show that the running time is reduced by 66.18% and 96.29% compared with the other two common algorithms, respectively.

Funder

National Key R&D Program of China

Publisher

MDPI AG

Reference21 articles.

1. Real-life experience of accepting assistive device services for Tibetans with dysfunction: A qualitative study;Luo;Int. J. Nurs. Sci.,2023

2. I-Support: A robotic platform of an assistive bathing robot for the elderly population;Zlatintsi;Robot. Auton. Syst.,2020

3. Developing trend and key technical analysis of intelligent acupuncture robot;Xu;Chin. J. Intell. Sci. Technol.,2019

4. A portable back massage robot based on Traditional Chinese Medicine;Wang;Technol. Health Care,2018

5. Chen, H., Wu, X., Feng, W., Xu, T., and He, Y. (2016, January 1–3). Design and path planning of Massagebot: One massaging robot climbing along the acupuncture points. Proceedings of the 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China.

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3