Pupil Position by an Improved Technique of YOLO Network for Eye Tracking Application

This Eye gaze following is the real-time collection of information about a person's eye movements and the direction of their look. Eye gaze trackers are devices that measure the locations of the pupils to detect and track changes in the direction of the user's gaze. There are numerous applications for analyzing eye movements, from psychological studies to human-computer interaction-based systems and interactive robotics controls. Real-time eye gaze monitoring requires an accurate and reliable iris center localization technique. Deep learning technology is used to construct a pupil tracking approach for wearable eye trackers in this study. This pupil tracking method uses deep-learning You Only Look Once (YOLO) model to accurately estimate and anticipate the pupil's central location under conditions of bright, natural light (visible to the naked eye). Testing pupil tracking performance with the upgraded YOLOv7 results in an accuracy rate of 98.50% and a precision rate close to 96.34% using PyTorch

Learning human navigational skill for smart wheelchair.

by Hon Nin Chow.Thesis (M.Phil.)--Chinese University of Hong Kong, 2003.Includes bibliographical references (leaves 79-84).Abstracts in English and Chinese.Chapter 1 --- Introduction --- p.1Chapter 1.1 --- Motivation --- p.1Chapter 1.2 --- Organization of the Thesis --- p.3Chapter 2 --- Literature Survey --- p.6Chapter 2.1 --- Learning-by-Demonstration --- p.6Chapter 2.2 --- Neural Networks --- p.7Chapter 2.3 --- Navigation Learning --- p.8Chapter 2.4 --- Localization --- p.9Chapter 2.5 --- Robotic Wheelchair --- p.10Chapter 3 --- System Implementation --- p.12Chapter 3.1 --- Hardware Platform --- p.12Chapter 3.2 --- Software Platform --- p.14Chapter 3.3 --- Basic Functionality --- p.15Chapter 3.3.1 --- Collision Avoidance --- p.15Chapter 3.3.2 --- Wearable Eye-jaw Control Interface --- p.16Chapter 4 --- Learning Human Navigational Skill --- p.22Chapter 4.1 --- Introduction --- p.22Chapter 4.2 --- Problem Formulation --- p.23Chapter 4.3 --- Approach --- p.23Chapter 4.4 --- Experimental Study --- p.26Chapter 4.4.1 --- Settings --- p.26Chapter 4.4.2 --- Results --- p.30Chapter 4.5 --- Discussions --- p.31Chapter 5 --- Learning from Multi-phase Demonstrations --- p.33Chapter 5.1 --- Introduction --- p.33Chapter 5.2 --- Problem Formulation --- p.34Chapter 5.3 --- Approach --- p.35Chapter 5.4 --- Experimental Study --- p.35Chapter 5.4.1 --- Settings --- p.35Chapter 5.4.2 --- Results --- p.37Chapter 5.5 --- Evaluation of Learning Performance --- p.37Chapter 5.6 --- Discussions --- p.43Chapter 6 --- Localization Learning --- p.44Chapter 6.1 --- Introduction --- p.44Chapter 6.2 --- Problem Formulation --- p.45Chapter 6.3 --- Approach --- p.45Chapter 6.4 --- Experimental Study --- p.46Chapter 6.4.1 --- Settings --- p.46Chapter 6.4.2 --- Result 1: Localization Performance --- p.47Chapter 6.4.3 --- Result 2: Similar Sensor Patterns in Various Configurations . --- p.53Chapter 6.4.4 --- Result 3: Small Variations in Major Dimensions of Environ- mental Feature along the Route --- p.53Chapter 6.5 --- Discussions --- p.59Chapter 6.5.1 --- Accuracy --- p.59Chapter 6.5.2 --- Choices of Sensor-Configuration Mappings --- p.60Chapter 7 --- Conclusion --- p.62Chapter 7.1 --- Contributions --- p.62Chapter 7.2 --- Future Work --- p.65Chapter A --- Cascade Neural Network --- p.67Chapter B --- Trajectories for the Navigation Learning in Chapter 4 --- p.69Chapter C --- Publications Resulted from the Study --- p.7

Rehabilitation Engineering

Population ageing has major consequences and implications in all areas of our daily life as well as other important aspects, such as economic growth, savings, investment and consumption, labour markets, pensions, property and care from one generation to another. Additionally, health and related care, family composition and life-style, housing and migration are also affected. Given the rapid increase in the aging of the population and the further increase that is expected in the coming years, an important problem that has to be faced is the corresponding increase in chronic illness, disabilities, and loss of functional independence endemic to the elderly (WHO 2008). For this reason, novel methods of rehabilitation and care management are urgently needed. This book covers many rehabilitation support systems and robots developed for upper limbs, lower limbs as well as visually impaired condition. Other than upper limbs, the lower limb research works are also discussed like motorized foot rest for electric powered wheelchair and standing assistance device

A Cost-Effective Haptic Device for Assistive and Rehabilitation Purposes

With the growing population of elderly, the need for assistance has also increased considerably especially for the tasks such as cleaning, reaching and grasping objects among others. There are numerous assistive devices in the market for this group of people. However, they are either too expensive or require overwhelming user effort for manipulation. Therefore, the presented research is primarily concerned with developing a low-cost, easy to use assistive device for elderly to reach and grasp objects through intuitive interface for the control of a slave anthropomorphic robotic arm (tele operator). The system also implements haptic feedback technology that enables the user to maneuver the grasping task in a realistic manner. A bilateral master-slave robotic system combined with the haptic feedback technology has been designed, built and tested to determine the suitability of this device for the chosen application. The final prototype consists of primarily off the shelf components programmed in such a way as to provide accurate teleoperation and haptic feedback to the user. While the nature of the project as a prototype precluded any patient trials, testing of the final system has shown that a fairly low cost device can be capable of providing the user an ability to remotely control a robotic arm for reaching and grasping objects with accurate force feedback

Assistive mobility devices focusing on smart walkers : classification and review

In an aging society it is extremely important to develop devices, which can support and aid the elderly in their daily life. This demands means and tools that extend independent living and promote improved health. Thus, the goal of this article is to review the state of the art in the robotic technology for mobility assistive devices for people with mobility disabilities. The important role that robotics can play in mobility assistive devices is presented, as well as the identification and survey of mobility assistive devices subsystems with a particular focus on the walkers technology. The advances in the walkers’ field have been enormous and have shown a great potential on helping people with mobility disabilities. Thus it is presented a review of the available literature of walkers and are discussed major advances that have been made and limitations to be overcome

Electromechanical System Integration for a Powered Upper Extremity Orthosis

Wearable robotics for assistance and rehabilitation are not yet considered commercially mainstream products, and as a result have not yet seen advanced controls systems and interfaces. Consequently, the available technology is mostly adapted from systems used in parallel technologies, rather than custom applications intended for human use. This study concerns itself with the design and development of a custom control system for a 2-degree of freedom powered upper extremity orthosis capable of driving elbow flexion/extension 135º and humeral rotation 95º . The orthosis has been evaluated for use as both a long-term assistive technology device for persons with disabilities, and as a short-term rehabilitative tool for persons recovering injury. The target demographics for such a device vary in age, cognitive ability and physical function, thus requiring several input parameters requiring consideration. This study includes a full evaluation of the potential users of the device, as well as parameter considerations that are required during the design phase. The final control system is capable of driving each DOF independently or simultaneously, for a more realistic and natural coupled-motion, with proportional control by pulse-width modulation. The dual-axis joystick interface wirelessly transmits to the 1.21 pound control pack which houses a custom microcontroller-driven PCB and 1800 milliamp-hour lithium-ion rechargeable battery capable of delivering 4 hours of running time. Upon integration with the 2 DOF orthosis device, a user may complete full range of motion with up to 5 pounds in their hand in less than 7 seconds, providing full functionality to complete acts of daily living, thus improving quality of life

Future bathroom: A study of user-centred design principles affecting usability, safety and satisfaction in bathrooms for people living with disabilities

Research and development work relating to assistive technology 2010-11 (Department of Health) Presented to Parliament pursuant to Section 22 of the Chronically Sick and Disabled Persons Act 197

Optimization for Commercialization of A Two Degree of Freedom Powered Arm Orthosis

In the United States, more than 18 million people suffer from upper extremity injury. This population is in need of a device both to aid in the completion of activities of daily living (eating and grooming), as well as to provide daily muscular therapy. To assist persons suffering from disabling upper extremity neuromuscular diseases, this thesis concerned the redesign of a powered arm brace from a proof-of-concept design to a more functional, marketable product. The principles of Design for Manufacturability and Assembly (DFMA) were employed as part of the design methodology to create a product that could be scaled into production. Additionally, numerical analyses including Finite Element Analysis (FEA) were completed to prove the both the safety and structural integrity of the orthosis in computer simulations. The design was then successfully tested with marked improvement over the previous design, including a 58% reduction in weight, decreased manufacturing costs, and a significant improvement in functionality and comfort

Towards a Legal end Ethical Framework for Personal Care Robots. Analysis of Person Carrier, Physical Assistant and Mobile Servant Robots.

Technology is rapidly developing, and regulators and robot creators inevitably have to come to terms with new and unexpected scenarios. A thorough analysis of this new and continuosuly evolving reality could be useful to better understand the current situation and pave the way to the future creation of a legal and ethical framework. This is clearly a wide and complex goal, considering the variety of new technologies available today and those under development. Therefore, this thesis focuses on the evaluation of the impacts of personal care robots. In particular, it analyzes how roboticists adjust their creations to the existing regulatory framework for legal compliance purposes. By carrying out an impact assessment analysis, existing regulatory gaps and lack of regulatory clarity can be highlighted. These gaps should of course be considered further on by lawmakers for a future legal framework for personal care robot. This assessment should be made first against regulations. If the creators of the robot do not encounter any limitations, they can then proceed with its development. On the contrary, if there are some limitations, robot creators will either (1) adjust the robot to comply with the existing regulatory framework; (2) start a negotiation with the regulators to change the law; or (3) carry out the original plan and risk to be non-compliant. The regulator can discuss existing (or lacking) regulations with robot developers and give a legal response accordingly. In an ideal world, robots are clear of impacts and therefore threats can be responded in terms of prevention and opportunities in form of facilitation. In reality, the impacts of robots are often uncertain and less clear, especially when they are inserted in care applications. Therefore, regulators will have to address uncertain risks, ambiguous impacts and yet unkown effects