Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501039
A. Khanicheh, Andrew Muto, Christina Triantafyllou, B. Weinberg, L. Astrakas, A. Tzika, C. Mavroidis
This paper presents the design, fabrication and preliminary tests of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that will be used in fMRI studies of the brain and motor performance during rehabilitation after stroke. The device consists of four major subsystems: a) the electro-rheological fluid (ERF) resistive element; b) the gearbox; c) the handles and d) the sensors: one optical encoder and one force sensor attached to the ERF resistive element's shaft to measure the patient induced motion and force, respectively. A key feature of the device is the use of electro theological fluids (ERF) to achieve resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. Using the electrically controlled rheological properties of ERFs, compact resistive elements with an ability to supply high resistive torques in a controllable and tunable fashion, have been developed. Our preliminary tests demonstrate that the device can apply, on a human hand holding the device handles, resistive forces that exceed 150 N. In addition the activated ERF maintain its properties in the magnetic environment without creating degradation of the MR images. The results are encouraging in combining functional magnetic resonance imaging methods, with MR compatible robotic devices for improved effectiveness of rehabilitation therapy.
{"title":"MR compatible ERF driven hand rehabilitation device","authors":"A. Khanicheh, Andrew Muto, Christina Triantafyllou, B. Weinberg, L. Astrakas, A. Tzika, C. Mavroidis","doi":"10.1109/ICORR.2005.1501039","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501039","url":null,"abstract":"This paper presents the design, fabrication and preliminary tests of a novel, one degree of freedom, MR compatible, computer controlled, variable resistance hand device that will be used in fMRI studies of the brain and motor performance during rehabilitation after stroke. The device consists of four major subsystems: a) the electro-rheological fluid (ERF) resistive element; b) the gearbox; c) the handles and d) the sensors: one optical encoder and one force sensor attached to the ERF resistive element's shaft to measure the patient induced motion and force, respectively. A key feature of the device is the use of electro theological fluids (ERF) to achieve resistive force generation. ERFs are fluids that experience dramatic changes in rheological properties, such as viscosity or yield stress, in the presence of an electric field. Using the electrically controlled rheological properties of ERFs, compact resistive elements with an ability to supply high resistive torques in a controllable and tunable fashion, have been developed. Our preliminary tests demonstrate that the device can apply, on a human hand holding the device handles, resistive forces that exceed 150 N. In addition the activated ERF maintain its properties in the magnetic environment without creating degradation of the MR images. The results are encouraging in combining functional magnetic resonance imaging methods, with MR compatible robotic devices for improved effectiveness of rehabilitation therapy.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129063355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501135
G. Rosati, Pasquale Gallina, Stefano Masiero, A. Rossi
In the last three years, a wire-based robot called the NeReBot (neurorehabilitation robot) was developed at the Robotics Laboratory of the Department of Innovation in Mechanics and Management, University of Padua, Italy. NeReBot is a 3 degrees-of-freedom (d.o.f.) wire-based robot, designed for the treatment of patients with stroke-related paralyzed or paretic upper limb during the acute phase. Although first clinical tests showed encouraging results in terms of motor recovery and functional outcome, the robot presented some limitations. Hence a new wire-based robot, called the MariBot (Marisa robot), was designed. The wire-drive philosophy, which makes the robot intrinsically safe, was maintained. Nevertheless, by changing the mechanical structure and adding two more d.o.f. the working space was enlarged significantly. Moreover, thanks to the improved mechanical design, MariBot results much lighter and less cumbersome than NeReBot. Finally, electronic hardware and control software were changed in order to improve man-machine interaction. In this paper, starting from the NeReBot experience, the design of MariBot is presented.
{"title":"Design of a new 5 d.o.f. wire-based robot for rehabilitation","authors":"G. Rosati, Pasquale Gallina, Stefano Masiero, A. Rossi","doi":"10.1109/ICORR.2005.1501135","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501135","url":null,"abstract":"In the last three years, a wire-based robot called the NeReBot (neurorehabilitation robot) was developed at the Robotics Laboratory of the Department of Innovation in Mechanics and Management, University of Padua, Italy. NeReBot is a 3 degrees-of-freedom (d.o.f.) wire-based robot, designed for the treatment of patients with stroke-related paralyzed or paretic upper limb during the acute phase. Although first clinical tests showed encouraging results in terms of motor recovery and functional outcome, the robot presented some limitations. Hence a new wire-based robot, called the MariBot (Marisa robot), was designed. The wire-drive philosophy, which makes the robot intrinsically safe, was maintained. Nevertheless, by changing the mechanical structure and adding two more d.o.f. the working space was enlarged significantly. Moreover, thanks to the improved mechanical design, MariBot results much lighter and less cumbersome than NeReBot. Finally, electronic hardware and control software were changed in order to improve man-machine interaction. In this paper, starting from the NeReBot experience, the design of MariBot is presented.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123937112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501075
J. Podobnik, M. Munih
Stability of a haptic interface is essential for safe and quality haptic interaction. This paper addresses the contact instability of admittance control haptic interface in free space. Experiments with special dedicated system for measuring grasp force have been performed to explore conditions of contact instability. Baseline experimental results are here compared to simulations from a model of haptic interaction. The model serves also as a basis for stability and performance improvements with a special compensator filter for force filtering. Experimental and simulation results both confirm stability improvements.
{"title":"Improved haptic interaction control with force filter compensator","authors":"J. Podobnik, M. Munih","doi":"10.1109/ICORR.2005.1501075","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501075","url":null,"abstract":"Stability of a haptic interface is essential for safe and quality haptic interaction. This paper addresses the contact instability of admittance control haptic interface in free space. Experiments with special dedicated system for measuring grasp force have been performed to explore conditions of contact instability. Baseline experimental results are here compared to simulations from a model of haptic interaction. The model serves also as a basis for stability and performance improvements with a special compensator filter for force filtering. Experimental and simulation results both confirm stability improvements.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122751246","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501058
L.M. Johnson, J. Winters
Robotic devices, especially those that are motivating, have shown a great deal of potential for use in upper-extremity stroke rehabilitation. The TheraJoy project aims at designing a cost efficient device for use in home therapy. This has involved altering a commercial force-reflecting joystick by lengthening the joystick shaft to encompass a larger range of horizontal motion, adding a vertical linkage system to add vertical arm movements, and adding springs to support the application of light passive and actuated forces. This system has been used in conjunction with specially designed software to study both assessment and therapeutic tasks. As the endpoint for each linkage moves in an arc that is nearly a plane, there is a need to generate expectations for tracking patterns for each manipulator. This study evaluates movements in able-bodied subjects for strategic tracking tasks. A key observation is that the non-dominant hand displays both longer reaction and movement times and also greater and more consistent deviations from straight-line paths over certain ranges and directions.
{"title":"Evaluation of tracking performance using joystick manipulators that engage different arm workspaces","authors":"L.M. Johnson, J. Winters","doi":"10.1109/ICORR.2005.1501058","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501058","url":null,"abstract":"Robotic devices, especially those that are motivating, have shown a great deal of potential for use in upper-extremity stroke rehabilitation. The TheraJoy project aims at designing a cost efficient device for use in home therapy. This has involved altering a commercial force-reflecting joystick by lengthening the joystick shaft to encompass a larger range of horizontal motion, adding a vertical linkage system to add vertical arm movements, and adding springs to support the application of light passive and actuated forces. This system has been used in conjunction with specially designed software to study both assessment and therapeutic tasks. As the endpoint for each linkage moves in an arc that is nearly a plane, there is a need to generate expectations for tracking patterns for each manipulator. This study evaluates movements in able-bodied subjects for strategic tracking tasks. A key observation is that the non-dominant hand displays both longer reaction and movement times and also greater and more consistent deviations from straight-line paths over certain ranges and directions.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122160398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501129
Fan Gao, M. Latash, V. Zatsiorsky
Internal force is defined as a set of contact forces which does not perturb object equilibrium. The internal forces cancel each other and therefore do not contribute to the resultant (manipulation) force acting upon the object. Mathematically, the internal and manipulation forces are independent. Hence they can be controlled independently and corresponding controllers have been implemented in robotic manipulators. The purposes of this study are to examine whether in humans internal force is coupled with the manipulation force and what kind of grasping strategy the performers utilize. The subjects (n=6) were instructed to make cyclic arm movements with a customized manipulandum and the orientation and the movement direction of the manipulandum were varied. Two major grasping patterns were demonstrated: symmetric grasping synergy when the manipulation force is parallel to finger-object interface; and reciprocal changes of forces when the manipulation force is orthogonal to digit-object interface. In contrast to robotic gripper where controls of internal force and manipulation force are decoupled, in humans the internal and manipulation forces are coupled.
{"title":"In contrast to robots, in humans internal and manipulation forces are coupled","authors":"Fan Gao, M. Latash, V. Zatsiorsky","doi":"10.1109/ICORR.2005.1501129","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501129","url":null,"abstract":"Internal force is defined as a set of contact forces which does not perturb object equilibrium. The internal forces cancel each other and therefore do not contribute to the resultant (manipulation) force acting upon the object. Mathematically, the internal and manipulation forces are independent. Hence they can be controlled independently and corresponding controllers have been implemented in robotic manipulators. The purposes of this study are to examine whether in humans internal force is coupled with the manipulation force and what kind of grasping strategy the performers utilize. The subjects (n=6) were instructed to make cyclic arm movements with a customized manipulandum and the orientation and the movement direction of the manipulandum were varied. Two major grasping patterns were demonstrated: symmetric grasping synergy when the manipulation force is parallel to finger-object interface; and reciprocal changes of forces when the manipulation force is orthogonal to digit-object interface. In contrast to robotic gripper where controls of internal force and manipulation force are decoupled, in humans the internal and manipulation forces are coupled.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125541525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501071
E. Faulring, J. Colgate, M. Peshkin
Cobots are a class of robots that use continuously variable transmissions to develop high fidelity programmable constraint surfaces. Cobots consume very little electrical power even when providing high output forces, and their transmissions are highly efficient across a broad range of transmission ratios. Cobotic transmissions also have the ability to act either as a brake or to become entirely free. The design and performance of the cobotic hand controller, a recently developed six-degree-of-freedom haptic display, is reviewed. This device illustrates the high dynamic range and low power consumption achievable by cobots. A thorough comparison of the power efficiency of a cobotic system versus a conventional electro-mechanical system is provided.
{"title":"High performance Cobotics","authors":"E. Faulring, J. Colgate, M. Peshkin","doi":"10.1109/ICORR.2005.1501071","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501071","url":null,"abstract":"Cobots are a class of robots that use continuously variable transmissions to develop high fidelity programmable constraint surfaces. Cobots consume very little electrical power even when providing high output forces, and their transmissions are highly efficient across a broad range of transmission ratios. Cobotic transmissions also have the ability to act either as a brake or to become entirely free. The design and performance of the cobotic hand controller, a recently developed six-degree-of-freedom haptic display, is reviewed. This device illustrates the high dynamic range and low power consumption achievable by cobots. A thorough comparison of the power efficiency of a cobotic system versus a conventional electro-mechanical system is provided.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125594048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501148
A. Tognetti, F. Lorussi, R. Bartalesi, M. Tesconi, G. Zupone, D. D. Rossi
Electrically conductive elastomer composites (CEs) show piezoresistive properties when a deformation is applied. In several applications, CEs can be integrated onto fabric or other flexible substrate and can be employed as strain sensors. Moreover, integrated CE sensors may be used in biomechanical analysis to realize wearable kinesthetic interfaces able to detect posture and movement of the human body. In the following a kinesthetic upper limb garment realized by CEs which allows to reconstruct shoulder, elbow and wrist movements and a kinesthetic glove able to detect posture and gesture of the hand are presented.
{"title":"Analysis and synthesis of human movements: wearable kinesthetic interfaces","authors":"A. Tognetti, F. Lorussi, R. Bartalesi, M. Tesconi, G. Zupone, D. D. Rossi","doi":"10.1109/ICORR.2005.1501148","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501148","url":null,"abstract":"Electrically conductive elastomer composites (CEs) show piezoresistive properties when a deformation is applied. In several applications, CEs can be integrated onto fabric or other flexible substrate and can be employed as strain sensors. Moreover, integrated CE sensors may be used in biomechanical analysis to realize wearable kinesthetic interfaces able to detect posture and movement of the human body. In the following a kinesthetic upper limb garment realized by CEs which allows to reconstruct shoulder, elbow and wrist movements and a kinesthetic glove able to detect posture and gesture of the hand are presented.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"32 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120895378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501096
S. Roderick, C. Carignan
This paper presents a system-level approach to the design of a safety-critical robotic system that is sufficiently safe to satisfy human-subject safety criteria. This system design approach utilizes preliminary hazard analysis, and fault tree analysis, and was successfully applied to a dexterous space robot designed to fly on NASA's space shuttle. An application of this approach to a shoulder rehabilitation exoskeleton would be presented and shown to improve the safety of the overall system.
{"title":"An approach to designing software safety systems for rehabilitation robots","authors":"S. Roderick, C. Carignan","doi":"10.1109/ICORR.2005.1501096","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501096","url":null,"abstract":"This paper presents a system-level approach to the design of a safety-critical robotic system that is sufficiently safe to satisfy human-subject safety criteria. This system design approach utilizes preliminary hazard analysis, and fault tree analysis, and was successfully applied to a dexterous space robot designed to fly on NASA's space shuttle. An application of this approach to a shoulder rehabilitation exoskeleton would be presented and shown to improve the safety of the overall system.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127169560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501134
S. Mclachlan, J. Arblaster, O.K. Liu, J. V. Miró, L. Chenoweth
This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The multi-stage control module consists of user intent, obstacle avoidance and fuzzy logic components. The user intent represents the person's commands. The obstacle avoidance component reads data representing any obstacles in the vicinity of the assistant and uses the vector field histogram (VFH) algorithm to select a suitable path to avoid any obstacles in the path of travel. The fuzzy logic component is responsible for merging the user intent and obstacle avoidance information such that the user's request is satisfied to the highest extent possible. When an unsafe situation presents itself the user's request(s) would be partially or wholly overridden so the assistant can return to a safe state. The system has been designed to be dynamically configurable so as to suit different users in terms of gait stability and strength, preferred speed of travel and level of control over the system. It has been tested both in a simulated environment and real-world operating conditions and has been shown to effectively avoid obstacles with minimal disruption to the user and their intent.
本文提出了一种多阶段共享控制方法(MSSC)，用于控制机器人移动助手的运动，以方便步态不稳定的人安全移动。多级控制模块由用户意图、避障和模糊逻辑组成。用户意图表示人的命令。避障组件读取代表助手附近任何障碍物的数据，并使用向量场直方图(vector field histogram, VFH)算法选择合适的路径以避开行走路径中的任何障碍物。模糊逻辑组件负责合并用户意图和避障信息，使用户的请求得到最大程度的满足。当不安全的情况出现时，用户的请求将被部分或全部覆盖，这样助手就可以返回到安全状态。该系统被设计为可动态配置的，以适应不同用户在步态稳定性和强度、首选的行进速度和对系统的控制水平方面的需求。它已经在模拟环境和现实世界的操作条件下进行了测试，并被证明可以有效地避开障碍物，对用户及其意图的干扰最小。
{"title":"A multi-stage shared control method for an intelligent mobility assistant","authors":"S. Mclachlan, J. Arblaster, O.K. Liu, J. V. Miró, L. Chenoweth","doi":"10.1109/ICORR.2005.1501134","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501134","url":null,"abstract":"This paper presents a multi-stage shared control method (MSSC) which can be used to control the movement of a robotic mobility assistant designed to facilitate safe mobilization for people with unstable gait. The multi-stage control module consists of user intent, obstacle avoidance and fuzzy logic components. The user intent represents the person's commands. The obstacle avoidance component reads data representing any obstacles in the vicinity of the assistant and uses the vector field histogram (VFH) algorithm to select a suitable path to avoid any obstacles in the path of travel. The fuzzy logic component is responsible for merging the user intent and obstacle avoidance information such that the user's request is satisfied to the highest extent possible. When an unsafe situation presents itself the user's request(s) would be partially or wholly overridden so the assistant can return to a safe state. The system has been designed to be dynamically configurable so as to suit different users in terms of gait stability and strength, preferred speed of travel and level of control over the system. It has been tested both in a simulated environment and real-world operating conditions and has been shown to effectively avoid obstacles with minimal disruption to the user and their intent.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127480823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501158
O. Prenzel, J. Feuser, A. Graser
Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user's autonomy within daily life environment. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks. A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system's environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This paper is about the concept and realization of a software-framework being able to execute autonomous system operations together with information retrieving capabilities and user interactions within a distributed system. Key aspects of development have been to provide robust run-time behavior of the system along with the inclusion and resolving of redundant sensor information as well as to reduce the effort of system programming to a minimum. The application of the developed framework is demonstrated on base of sample steps of its integration with the FRIEND II rehabilitation robotic system within an intelligent home environment.
{"title":"Rehabilitation robot in intelligent home environment - software architecture and implementation of a distributed system","authors":"O. Prenzel, J. Feuser, A. Graser","doi":"10.1109/ICORR.2005.1501158","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501158","url":null,"abstract":"Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user's autonomy within daily life environment. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks. A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system's environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This paper is about the concept and realization of a software-framework being able to execute autonomous system operations together with information retrieving capabilities and user interactions within a distributed system. Key aspects of development have been to provide robust run-time behavior of the system along with the inclusion and resolving of redundant sensor information as well as to reduce the effort of system programming to a minimum. The application of the developed framework is demonstrated on base of sample steps of its integration with the FRIEND II rehabilitation robotic system within an intelligent home environment.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121759858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：