Open access Jurnal SINTA 1
Visual control system for grip of glasses oriented to assistance robotics
International Journal of Electrical and Computer Engineering (IJECE) · Vol. 10 No. 6 (2020)
- ISSN
- 2722-2578, 2088-8708
- Published
- 2020-12-01
- Publisher
- Institute of Advanced Engineering and Science
Abstract
Assistance robotics is presented as a means of improving the quality of life of people with disabilities, an application case is presented in assisted feeding. This paper presents the development of a system based on artificial intelligence techniques, for the grip of a glass, so that it does not slip during its manipulation by means of a robotic arm, as the liquid level varies. A faster R-CNN is used for the detection of the glass and the arm's gripper, and from the data obtained by the network, the mass of the beverage is estimated, and a delta of distance between the gripper and the liquid. These estimated values are used as inputs for a fuzzy system which has as output the torque that the motor that drives the gripper must exert. It was possible to obtain a 97.3% accuracy in the detection of the elements of interest in the environment with the faster R-CNN, and a 76% performance in the grips of the glass through the fuzzy algorithm.
Collaboration network of the authors
18 authors · 32 co-authorship links · 9 across different organisations
Hover or tap a name to highlight its co-authors. Double-click to open the author's page.
- Universidad Militar Nueva Granada
- Universidad de los Llanos
- Affiliation unknown
- Different organisations
- Same organisation
- Affiliation unknown
- Thicker line = more joint articles · bigger circle = more articles
Show as table
| Co-author | Organisation | Joint articles |
|---|---|---|
| Javier Eduardo Martínez Baquero | Universidad de los Llanos | 11 |
| Javier Orlando Pinzon-Arenas | Universidad Militar Nueva Granada | 7 |
| César G. Pachón | Universidad Militar Nueva Granada | 5 |
| Jose Luis Ramirez | Universidad Militar Nueva Granada | 3 |
| Luis Alfredo Rodríguez Umaña | Universidad de los Llanos | 2 |
| Anny Astrid Espitia Cubillos | Universidad Militar Nueva Granada | 2 |
| Carlos Javier Enciso Aragón | Universidad Militar Nueva Granada | 1 |
| Paula Useche | Affiliation unknown | 1 |
| Cristian Almanza | Universidad de los Llanos | 1 |
| Jairo David Cuero Ortega | Universidad de los Llanos | 1 |
| Andrés Mauricio Díaz Melgarejo | Universidad Militar Nueva Granada | 1 |
| Juan Sebastian Sanabria Jimenez | Universidad Militar Nueva Granada | 1 |
| Jorge Herrera | Universidad Militar Nueva Granada | 1 |
| Paula Catalina Useche-Murillo | Universidad Militar Nueva Granada | 1 |
| Juan C. Guachetá-Alba | Universidad Militar Nueva Granada | 1 |
Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.