Mouth gesture and voice command based robot command interface

In this paper we present a voice command and mouth gesture based robot command interface which is capable of controlling three degrees of freedom. The gesture set was designed in order to avoid head rotation and translation, and thus relying solely in mouth movements. Mouth segmentation is performed...

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Bibliographic Details
Published in2009 IEEE International Conference on Robotics and Automation pp. 333 - 338
Main Authors Gomez, J.-B., Ceballos, A., Prieto, F., Redarce, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2009
Subjects
Arm
Cameras
Hidden Markov models
Instruments
Laparoscopes
Magnetic heads
Mouth
Robot vision systems
Surgery
Surges
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ISBN1424427886
9781424427888
ISSN1050-4729
DOI10.1109/ROBOT.2009.5152858

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Summary:In this paper we present a voice command and mouth gesture based robot command interface which is capable of controlling three degrees of freedom. The gesture set was designed in order to avoid head rotation and translation, and thus relying solely in mouth movements. Mouth segmentation is performed by using the normalized a* component, as in J. Gomez, et al., (October 2008). The gesture detection process is carried out by a Gaussian mixture model (GMM) based classifier. After that, a state machine stabilizes the system response by restricting the number of possible movements depending on the initial state. Voice commands are modeled using a hidden Markov model (HMM) isolated word recognition scheme. The interface was designed taking into account the specific pose restrictions found in the DaVinci assisted surgery command console.
ISBN:1424427886
9781424427888
ISSN:1050-4729
DOI:10.1109/ROBOT.2009.5152858