Stereovision System for Estimation of the Grasp Type for Electrotherapy

Abstract

This paper presents hardware and software for scene analysis that are designed for the system used in treatment of post stroke hemiplegic patients using electrical stimulation. New hardware includes two cameras and a laser pointer, while new software is given as a Matlab program that performs real-time estimate of size and shape of targeted object. Based on heuristic contemplation the system makes a decision grasp type and necessary actions for the purpose of hand opening and closing. The system was tested on 13 objects and in 95% of cases it worked according to demands, i.e. corresponding to choices of healthy subjects when they wanted to grab that same object.