Sistema de detecção e modelagem de rampas e degraus para um exoesqueleto de membros inferiores
In recent years, many studies have been carried out on the topic of exoskeletons related to locomotion assistance. The main goal of these devices is to assist the elderly and physically challenged persons in daily activities, replacing or increasing the movement of body articulations. Although si...
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| Formato: | Dissertação |
| Idioma: | pt_BR |
| Publicado em: |
Brasil
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| Endereço do item: | https://repositorio.ufrn.br/jspui/handle/123456789/28953 |
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| Resumo: | In recent years, many studies have been carried out on the topic of exoskeletons related
to locomotion assistance. The main goal of these devices is to assist the elderly and
physically challenged persons in daily activities, replacing or increasing the movement of
body articulations. Although significant progress has been achieved, many challenges still
remain. A desirable feature for exoskeletons is the planning of autonomous movements,
so that the movements are automatically adapted according to the environment that the
user is facing. Therefore, it is indispensable the use of a computer vision system to provide
information about the environment where the user is located, classifying the structures of
the scene as walkable or not. In this sense, we propose a new strategy for ramp and
step detection which are in accordance with technical standards and can be climbed for
exoskeleton users. Initially, we use a RGB-D sensor to acquire depth information of the
environment. Next, we perform plane segmentation using a hypothesis and verification
methodology. Through the plane normal analysis, it is possible to establish ramps and
steps candidates. Finally, plane dimensions are verified in order to decide whether the
ramps and steps are qualified to be climbed. Results were obtained applying the method
considering different environments, where it was possible to detect and model ramps and
steps satisfactorily for the presented scenarios. |
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