Human-face-tracking using visual servoing by patient robot

Shota Oonishi, Akira Yanou, Mamoru Minami

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)


Human-body models imitating a part of human body have been used for medical training. But those models seem not to suit training because they cannot be felt to be similar to actual humans. Therefore, the simulator being felt like a real human is required for the medical trainees being able to assess patient's physical and emotional conditions, since medical care procedures are vital to watch out patient's pains given by the care treatment itself to avoid failures leading the patients to dangerous conditions. Based on the needs for medical training by using human-like robot, we have developed a simulator for injection training called "patient robot." Patient robot has to behave like humans to make the medical training effective, so we introduced a visual servoing system into the patient robot so that the patient robot can gaze at a trainee's face like humans or turn away its face form the medical procedures. We executed some experiments of gazing at a rotating object using visual servoing, in which actual object's positions, patient robot's gazing point and pose-tracking data have been measured. We confirmed patient robot can track real human faces.

Original languageEnglish
Number of pages6
Publication statusPublished - Jan 1 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sept 14 2013Sept 17 2013


Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013


  • Object tracking
  • Patient robot
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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