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Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Risley-prism-based visual tracing method for robot guidance.

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    This study introduces a novel visual tracing system using Risley prisms to enhance camera field of view for dynamic target tracking. The system achieves high-precision robot guidance with minimal trajectory deviations, improving robot navigation capabilities.

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    Area of Science:

    • Robotics
    • Computer Vision
    • Optical Engineering

    Background:

    • Dynamic target tracking is crucial for robot navigation.
    • Existing visual systems face challenges with target loss and tracking instability.
    • Expanding a camera's field of view is essential for comprehensive monitoring.

    Purpose of the Study:

    • To propose a novel visual tracing model using Risley prisms.
    • To establish an advanced visual system by integrating boresight adjusting and visual detection technologies.
    • To develop real-time visual tracing strategies for dynamic targets.

    Main Methods:

    • Implementing a visual tracing model with Risley prisms placed in front of a camera.
    • Dynamically adjusting the camera's field of view to expand its imageable area.
    • Developing and applying two real-time visual tracing strategies to prevent target loss and tracking instability.
    • Measuring trajectory deviations between a manipulator's reference path and the visual system's detected path.

    Main Results:

    • The visual system significantly expands the camera's imageable area.
    • The proposed strategies effectively avoid target loss and tracking instability.
    • Experimental results demonstrate trajectory deviations of less than 1.5% within a 250 mm manipulator motion space.

    Conclusions:

    • The developed visual system enables high-precision robot guidance.
    • This system offers a promising method for enhancing robot navigation.
    • The integration of Risley prisms provides a dynamic field of view adjustment capability.