Advanced Trajectory Generator for Two Carts with RGB-D Sensor on Circular Rail

  • Ramón Panduro
  • Eva Segura
  • Lidia M. Belmonte
  • Paulo Novais
  • Jesús Benet
  • Antonio Fernández-CaballeroEmail author
  • Rafael Morales
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11486)


This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts’ trajectory generation is to track a person’s physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the two carts on the motorised circular rail in detail. Lastly, a study case is offered to show the performance of the described control algorithms for trajectory generation.


Physical rehabilitation Facial emotion detection Moving cart Motorised circular rail RGB-D sensor 



This work was partially supported by Ministerio de Ciencia, Innovación y Universidades, Agencia Estatal de Investigación (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ramón Panduro
    • 1
  • Eva Segura
    • 2
  • Lidia M. Belmonte
    • 1
    • 2
  • Paulo Novais
    • 3
  • Jesús Benet
    • 2
  • Antonio Fernández-Caballero
    • 1
    • 2
    Email author
  • Rafael Morales
    • 1
    • 2
  1. 1.Instituto de Investigación en Informática de AlbaceteUniversidad de Castilla-La ManchaAlbaceteSpain
  2. 2.Escuela Técnica Superior de Ingenieros IndustrialesUniversidad de Castilla-La ManchaAlbaceteSpain
  3. 3.Intelligent Systems Lab, Campus of GualtarUniversidade do MinhoBragaPortugal

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