MoMa: An assistive mobile manipulator with a webcam-based gaze control system
Mobile Manipulators (MoMa) is a category of mobile robots designed to assist people with motor disabilities to perform object retrieval tasks using a webcam-based gaze control system. Using off-the-shelf components such as reproducible acrylic and 3D-printed plates, and a webcam for eye tracking, Mo...
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| Format: | Article |
| Language: | English |
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Elsevier
2024-12-01
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| Series: | HardwareX |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2468067224000932 |
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| author | James Dominic O. Go Neal Garnett T. Ong Carlo A. Rafanan Brian G. Tan Timothy Scott C. Chu |
| author_facet | James Dominic O. Go Neal Garnett T. Ong Carlo A. Rafanan Brian G. Tan Timothy Scott C. Chu |
| author_sort | James Dominic O. Go |
| collection | DOAJ |
| description | Mobile Manipulators (MoMa) is a category of mobile robots designed to assist people with motor disabilities to perform object retrieval tasks using a webcam-based gaze control system. Using off-the-shelf components such as reproducible acrylic and 3D-printed plates, and a webcam for eye tracking, MoMa serves as an inexpensive, open-source, and customizable solution in assistive robotics. The robotic system consists of a mobile base that can move forward and backward, as well as turn in place; and a 2-axis cartesian arm equipped with a claw gripper that opens and closes. The simple movement of the robot also allows for a simple control method and graphical user interface (GUI). The user receives information about what is in front of the robot through a mounted camera, and, by looking at parts of the screen that correspond to controls, has their gaze predicted by a convolutional neural network and sends commands wirelessly. The performance of the entire system has been validated through testing of the gaze prediction model, the integration of the control system, as well as its task completion capabilities. All the design, construction and software files are freely available online under the CC BY 4.0 license at https://doi.org/10.17632/k7yfn6wdv7.2. |
| format | Article |
| id | doaj-art-e79ffda9e1a24bb6813749ed77abf01a |
| institution | Kabale University |
| issn | 2468-0672 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Elsevier |
| record_format | Article |
| series | HardwareX |
| spelling | doaj-art-e79ffda9e1a24bb6813749ed77abf01a2024-12-16T05:36:41ZengElsevierHardwareX2468-06722024-12-0120e00599MoMa: An assistive mobile manipulator with a webcam-based gaze control systemJames Dominic O. Go0Neal Garnett T. Ong1Carlo A. Rafanan2Brian G. Tan3Timothy Scott C. Chu4De La Salle University Manila, 2401 Taft Ave, Malate, Manila, 1004 Metro Manila, PhilippinesDe La Salle University Manila, 2401 Taft Ave, Malate, Manila, 1004 Metro Manila, PhilippinesDe La Salle University Manila, 2401 Taft Ave, Malate, Manila, 1004 Metro Manila, PhilippinesDe La Salle University Manila, 2401 Taft Ave, Malate, Manila, 1004 Metro Manila, PhilippinesCorresponding author.; De La Salle University Manila, 2401 Taft Ave, Malate, Manila, 1004 Metro Manila, PhilippinesMobile Manipulators (MoMa) is a category of mobile robots designed to assist people with motor disabilities to perform object retrieval tasks using a webcam-based gaze control system. Using off-the-shelf components such as reproducible acrylic and 3D-printed plates, and a webcam for eye tracking, MoMa serves as an inexpensive, open-source, and customizable solution in assistive robotics. The robotic system consists of a mobile base that can move forward and backward, as well as turn in place; and a 2-axis cartesian arm equipped with a claw gripper that opens and closes. The simple movement of the robot also allows for a simple control method and graphical user interface (GUI). The user receives information about what is in front of the robot through a mounted camera, and, by looking at parts of the screen that correspond to controls, has their gaze predicted by a convolutional neural network and sends commands wirelessly. The performance of the entire system has been validated through testing of the gaze prediction model, the integration of the control system, as well as its task completion capabilities. All the design, construction and software files are freely available online under the CC BY 4.0 license at https://doi.org/10.17632/k7yfn6wdv7.2.http://www.sciencedirect.com/science/article/pii/S2468067224000932Convolutional neural networksGaze controlMobile manipulatorUnmanned ground vehicleWebcam |
| spellingShingle | James Dominic O. Go Neal Garnett T. Ong Carlo A. Rafanan Brian G. Tan Timothy Scott C. Chu MoMa: An assistive mobile manipulator with a webcam-based gaze control system HardwareX Convolutional neural networks Gaze control Mobile manipulator Unmanned ground vehicle Webcam |
| title | MoMa: An assistive mobile manipulator with a webcam-based gaze control system |
| title_full | MoMa: An assistive mobile manipulator with a webcam-based gaze control system |
| title_fullStr | MoMa: An assistive mobile manipulator with a webcam-based gaze control system |
| title_full_unstemmed | MoMa: An assistive mobile manipulator with a webcam-based gaze control system |
| title_short | MoMa: An assistive mobile manipulator with a webcam-based gaze control system |
| title_sort | moma an assistive mobile manipulator with a webcam based gaze control system |
| topic | Convolutional neural networks Gaze control Mobile manipulator Unmanned ground vehicle Webcam |
| url | http://www.sciencedirect.com/science/article/pii/S2468067224000932 |
| work_keys_str_mv | AT jamesdominicogo momaanassistivemobilemanipulatorwithawebcambasedgazecontrolsystem AT nealgarnetttong momaanassistivemobilemanipulatorwithawebcambasedgazecontrolsystem AT carloarafanan momaanassistivemobilemanipulatorwithawebcambasedgazecontrolsystem AT briangtan momaanassistivemobilemanipulatorwithawebcambasedgazecontrolsystem AT timothyscottcchu momaanassistivemobilemanipulatorwithawebcambasedgazecontrolsystem |