Vision-based Control of a Soft Robot for Maskless Head and Neck Cancer   Radiotherapy
  This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. We then use the model to design a linear quadratic Gaussian feedback controller to manipulate the patient head position based on sensed head pitch motion. Experiments demonstrate the success of our approach. 
Olalekan P. Ogunmolu, Xuejun Gu, Steve Jiang, and Nicholas R. Gans
cs.RO