Mobile robotic active view planning for physiotherapy and physical exercise guidance

Kalana Ishara, Ivan Lee, Russell Brinkworth

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Consulting a physiotherapist or physical trainer for long term regular exercises is not financially affordable for all. As a solution, our long term research goal is to develop a robotic physiotherapist/physical trainer which could instructively and physically guide a performer. Towards that direction, in this paper we present an autonomously repositioning mobile robot to observe a person throughout a sequence of physical exercises by selecting less self-occluded viewpoints. A viewpoint specific joint mutual occlusion (JMO) measurement is formulated at candidate viewpoints. Then a utility function, which accounts for joint occlusion, skeleton coverage, sensing range and moving cost, is averaged over the sub-activity periodic duration to find the optimal viewpoint. Proposed methods have been evaluated with multi-view dataset and an online mobile robot while a person performed eight different physical activities with two trials each. Results indicate proposed active view planner can autonomously drive the mobile robot to a less self-occluded viewpoint over manually setup fixed viewpoint observation, leading to more accurate human movement analysis.

Original languageEnglish
Title of host publicationProceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages130-136
Number of pages7
ISBN (Electronic)9781467373364
DOIs
Publication statusPublished - 24 Sep 2015
Externally publishedYes
Event7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015 - Siem Reap, Cambodia
Duration: 15 Jul 201517 Jul 2015

Publication series

NameProceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015

Conference

Conference7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
CountryCambodia
CitySiem Reap
Period15/07/1517/07/15

Keywords

  • Physiotherapy
  • robotic rehabilitation
  • robotic physiotherapy
  • Kinect
  • RGB-D skeleton tracking

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  • Cite this

    Ishara, K., Lee, I., & Brinkworth, R. (2015). Mobile robotic active view planning for physiotherapy and physical exercise guidance. In Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015 (pp. 130-136). [7274609] (Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCIS.2015.7274609