TY - GEN
T1 - Mobile robotic active view planning for physiotherapy and physical exercise guidance
AU - Ishara, Kalana
AU - Lee, Ivan
AU - Brinkworth, Russell
PY - 2015/9/24
Y1 - 2015/9/24
N2 - 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.
AB - 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.
KW - Physiotherapy
KW - robotic rehabilitation
KW - robotic physiotherapy
KW - Kinect
KW - RGB-D skeleton tracking
UR - http://www.scopus.com/inward/record.url?scp=84960931665&partnerID=8YFLogxK
U2 - 10.1109/ICCIS.2015.7274609
DO - 10.1109/ICCIS.2015.7274609
M3 - Conference contribution
AN - SCOPUS:84960931665
T3 - Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
SP - 130
EP - 136
BT - Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
CY - Piscataway, NJ
T2 - 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and the 7th IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2015
Y2 - 15 July 2015 through 17 July 2015
ER -