The Application of Dual-arm Mobile Robot Systems in the Care of the Older Adults

Abstract

With the rapid development of science and technology, in addition to the application of robots in industry, applications that provide services in daily life are also booming, such as shopping mall robots and elderly care robots. Therefore, this paper proposes to further enhance the effect of human-robot interaction based on hand gesture recognition and visual tracking, the robot system, and with the application of dual arms so that it can be used in general home or care centers.In hand gesture recognition, the hand gesture can be further known by the position of each keypoint after using OpenPose to obtain the information of the keypoints. In visual servoing, using YOLOv4 to identify the object to be tracked, and then uses hybrid model-based tracking to track the geometry of the object. In a robot cognitive system, it will get the engagement and intention of the elderly. Moreover, triggering human-robot interaction.