Step modeling and safe path planning for a lower limb exoskeleton
| Autor: | Diego S. Pereira, Daniel H. S. Fernandes, Vitor G. Santos, Luis B. P. Nascimento, Pablo Javier Alsina, Márcio Valério de Araújo |
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| Rok vydání: | 2019 |
| Předmět: |
Computer science
business.industry 010401 analytical chemistry 0206 medical engineering Point cloud 02 engineering and technology 020601 biomedical engineering 01 natural sciences Lower limb Motion (physics) 0104 chemical sciences Exoskeleton Obstacle Path (graph theory) RGB color model Computer vision Motion planning Artificial intelligence business |
| Zdroj: | ICAR |
| DOI: | 10.1109/icar46387.2019.8981644 |
| Popis: | The walking experience in environments with obstacles is a challenge for patients with lower limb pathology. A transparent exoskeleton is an interesting solution since it guarantees the performance of autonomous motion. In this paper, we present a new method to detect and model steps using point cloud data to find a feasible path for the exoskeleton to perform. We use a RGB-D sensor to obtain depth information and perform a scene segmentation strategy. Next, we classify the different detected elements either as a floor, step or obstacle and then use a path planning method to find a collision-free path. Experiments show that the system accomplished satisfactory results for the presented scenarios. |
| Databáze: | OpenAIRE |
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