文章基本信息

标题：Visual control system for grip of glasses oriented to assistance robotics
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作者：Robinson Jimenez-Moreno ; Astrid Rubiano ; Jose L. Ramirez 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2020
卷号：10
期号：6
页码：6330-6339
DOI：10.11591/ijece.v10i6.pp6330-6339
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：Assistance robotics is presented as a means of improving the quality of life of people with disabilities, an application case is presented in assisted feeding. This paper presents the development of a system based on artificial intelligence techniques, for the grip of a glass, so that it does not slip during its manipulation by means of a robotic arm, as the liquid level varies. A faster R-CNN is used for the detection of the glass and the arm's gripper, and from the data obtained by the network, the mass of the beverage is estimated, and a delta of distance between the gripper and the liquid. These estimated values are used as inputs for a fuzzy system which has as output the torque that the motor that drives the gripper must exert. It was possible to obtain a 97.3% accuracy in the detection of the elements of interest in the environment with the faster R-CNN, and a 76% performance in the grips of the glass through the fuzzy algorithm.
关键词：Assistive Robotics;Faster R-CNN;Fuzzy System;Visual control;Glass grip