Semi-autonomous Control of an Assistive Robotic Manipulator using Computer Vision

Assistive robotic manipulators (ARMs), such as exoskeletons and robotic arms, have a huge potential for empowering persons with limited or no motor control by enabling them to complete common everyday tasks with little or no help.
The focus of this project is to equip such an ARM with intelligence such that it can be controlled in a semi-autonomous manner and hence making it easier to use. The intelligence will consist of the ability to perceive and interpret the environment around the user using computer vision. The system will rely on affordance detection in order to predict the intention of the user. This prediction is then applied in a blending-like scheme to realize a semi-autonomous control.