{"title":"Rehabilitation robot FRIEND II - the general concept and current implementation","authors":"I. Volosyak, O. Ivlev, A. Graser","doi":"10.1109/ICORR.2005.1501160","DOIUrl":null,"url":null,"abstract":"FRIEND II which is the successor of the rehabilitation robot FRIEND I is being developed at the Institute of Automation, University of Bremen, and belongs to the category 'intelligent' wheelchair mounted manipulators. Both systems are used as a personal assistant to support disabled persons with upper-limb impairments in daily life situations as well as in the working environment. Significant improvements are obtained with the use of smart devices, new camera systems, a humanlike robot arm with 7-joint kinematics, a new control concept - kinematic configuration control, force torque sensor and two interchangeable grippers. This paper describes the hardware selection and the innovations in the hardware of the system FRIEND II currently under development.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"90 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"71","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2005.1501160","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 71
Abstract
FRIEND II which is the successor of the rehabilitation robot FRIEND I is being developed at the Institute of Automation, University of Bremen, and belongs to the category 'intelligent' wheelchair mounted manipulators. Both systems are used as a personal assistant to support disabled persons with upper-limb impairments in daily life situations as well as in the working environment. Significant improvements are obtained with the use of smart devices, new camera systems, a humanlike robot arm with 7-joint kinematics, a new control concept - kinematic configuration control, force torque sensor and two interchangeable grippers. This paper describes the hardware selection and the innovations in the hardware of the system FRIEND II currently under development.