Abstract:
Recently, there has been a significant recognition of user centered designs for interactive robotic
systems. These computer-based activity-promoting interactive systems have proven to be
potential therapeutic tools for exercise, injury, postural, and vestibular rehabilitation and control.
This research focuses on working of such a user centered interactive system. This aim of the
study is to design a phase and frequency controller based on visual servoing for a parallel
manipulator to synchronize its motion with the head of a user walking or running on a treadmill.
The synced motion of the platform would then enable the user to comfortably view a screen that
will seem stationary to the user while running on treadmill. The purpose is to minimize relative
motion between its end-effector that holds the device, and face of running user. The research
work is divided into three modules: image processing, mathematical modeling, and interfacing of
both modules. The platform is controlled based on visual feedback from fixed camera for face of
user, and feedback from robotic manipulator for position of end-effector. The presented
mechanical design and control strategy are tested for different users running with distinct speeds.
The results show that motion of end-effector is successfully synchronized with the face of user at
required speeds. The control strategy works effectively for the proof of concept yet modifications
are recommended for increased computational accuracy.
