Active tracking control between a bio-robot and a human subject

This paper discusses the tracking algorithms and approach used to control the Tracking Fluoroscope System. It is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person has to be able to walk freely while being followed by the robot. It requires independent tracking of the position and orientation of the body with respect to the platform as well as joint positions with respect to the trunk of the body. This paper investigates the problem of tracking position and orientation of a walking person with respect to the following robotic platform.