Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428483
W. Mugge, D. Abbink, F. V. D. Helm
Many human motion control studies use system identification methods to estimate the human admittance (the frequency response function from force to position). Admittance was found to be affected by task instruction, environmental properties and perturbation properties. From literature it is known the frequency content (bandwidth) of the perturbation modulates the admittance, due to modulation of the reflexive feedback. However, reducing the perturbation bandwidth reduces the identifiable admittance bandwidth. Yet, the full dynamic range is necessary to understand the changes in control behaviour, and also to ensure accurate parametric fits of neuromusculoskeletal models to the estimated admittance. The goal of this study is to develop a perturbation signal that evokes low bandwidth control behaviour while it enables identification over the full admittance bandwidth. This study introduces the Reduced Power Method. Effectively, multisine torque perturbations are supplemented with reduced power (a small percentage of full power) beyond the perturbation bandwidth, large enough to allow accurate identification, and small enough not to influence control behaviour. The method was tested in an experimental study. The dynamic ankle control behaviour of subjects (n=10) was measured while performing a variety of tasks in face of continuous torque perturbations with and without the addition of reduced power. The estimated admittance varied substantially as a result of task instruction and perturbation bandwidth, but not as a result of the additional reduced power. In conclusion, the proposed method was successful in estimating the full dynamics of the admittance while the resulting control behaviour was adapted to the low-frequent full power perturbations.
{"title":"Reduced Power Method: how to evoke low-bandwidth behaviour while estimating full-bandwidth dynamics","authors":"W. Mugge, D. Abbink, F. V. D. Helm","doi":"10.1109/ICORR.2007.4428483","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428483","url":null,"abstract":"Many human motion control studies use system identification methods to estimate the human admittance (the frequency response function from force to position). Admittance was found to be affected by task instruction, environmental properties and perturbation properties. From literature it is known the frequency content (bandwidth) of the perturbation modulates the admittance, due to modulation of the reflexive feedback. However, reducing the perturbation bandwidth reduces the identifiable admittance bandwidth. Yet, the full dynamic range is necessary to understand the changes in control behaviour, and also to ensure accurate parametric fits of neuromusculoskeletal models to the estimated admittance. The goal of this study is to develop a perturbation signal that evokes low bandwidth control behaviour while it enables identification over the full admittance bandwidth. This study introduces the Reduced Power Method. Effectively, multisine torque perturbations are supplemented with reduced power (a small percentage of full power) beyond the perturbation bandwidth, large enough to allow accurate identification, and small enough not to influence control behaviour. The method was tested in an experimental study. The dynamic ankle control behaviour of subjects (n=10) was measured while performing a variety of tasks in face of continuous torque perturbations with and without the addition of reduced power. The estimated admittance varied substantially as a result of task instruction and perturbation bandwidth, but not as a result of the additional reduced power. In conclusion, the proposed method was successful in estimating the full dynamics of the admittance while the resulting control behaviour was adapted to the low-frequent full power perturbations.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121048142","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428475
G. Ciofani, P. Sergi, J. Carpaneto, V. Raffa, A. Menciassi, P. Dario, X. Navarro, S. Micera
Sieve peripheral neural interfaces are a very promising solution to develop an intimate connection between the peripheral nervous system and artificial devices (in particular hand prostheses for amputees). However, they present several drawbacks limiting their usability. For this reason we are trying to develop a new generation of sieve interfaces based on the selective control of axonal regeneration. In this manuscript, simulations and preliminary results are shown investigating the possibility of imposing a desired trajectory to the axons during the regeneration. This can be achieved by placing microspheres embedding chemical cues according to the information provided by the combination of a sinaptogenic model and of a genetic "model-free" algorithm.
{"title":"On the control of axonal outgrowing for the development of new sieve interfaces","authors":"G. Ciofani, P. Sergi, J. Carpaneto, V. Raffa, A. Menciassi, P. Dario, X. Navarro, S. Micera","doi":"10.1109/ICORR.2007.4428475","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428475","url":null,"abstract":"Sieve peripheral neural interfaces are a very promising solution to develop an intimate connection between the peripheral nervous system and artificial devices (in particular hand prostheses for amputees). However, they present several drawbacks limiting their usability. For this reason we are trying to develop a new generation of sieve interfaces based on the selective control of axonal regeneration. In this manuscript, simulations and preliminary results are shown investigating the possibility of imposing a desired trajectory to the axons during the regeneration. This can be achieved by placing microspheres embedding chemical cues according to the information provided by the combination of a sinaptogenic model and of a genetic \"model-free\" algorithm.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122518793","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428496
B. Betancourt, P.W. Kong, S. Gorripati, T. Sarkodie-Gyan
The authors have developed a system to diagnose an impairment or disorder and to identify the point at which this impairment has occurred. Notably the experienced clinician continues to perform functional gait assessment in the absence of new advances. Conventional gait therapy for patients that have suffered a debilitating trauma involves many human factors that can be, at times, arbitrary, and often times inconsistent. The aim of this paper is the application of a fuzzy inference engine to emulate human reasoning in assessing functional impairments. This involves the application of fuzzy sets theory to analyze and to interpret human gait for automated diagnosis and therapy. Preliminary results are presented using the VICON motion capture system as the environment.
{"title":"Automated Interpretable Membership Functions in Human Gait","authors":"B. Betancourt, P.W. Kong, S. Gorripati, T. Sarkodie-Gyan","doi":"10.1109/ICORR.2007.4428496","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428496","url":null,"abstract":"The authors have developed a system to diagnose an impairment or disorder and to identify the point at which this impairment has occurred. Notably the experienced clinician continues to perform functional gait assessment in the absence of new advances. Conventional gait therapy for patients that have suffered a debilitating trauma involves many human factors that can be, at times, arbitrary, and often times inconsistent. The aim of this paper is the application of a fuzzy inference engine to emulate human reasoning in assessing functional impairments. This involves the application of fuzzy sets theory to analyze and to interpret human gait for automated diagnosis and therapy. Preliminary results are presented using the VICON motion capture system as the environment.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131249484","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428422
G. Bourhis, M. Sahnoun
Our aim is to implement a force feedback joystick on a powered wheelchair provided with a set of range sensors. This system is intended to people with disability for whom a traditional joystick control (or any other adapted sensor control) is difficult or impossible because of too severe motor disabilities. The force feedback is calculated according to the proximity of the obstacles and helps the user, without forcing him, to move towards the free direction. Adopted methodology aims at circumventing certain obstacles which slow down the diffusion and thus the current use of smart wheelchairs: problems of safety, of reliability and of acceptability in particular. The results presented aim at identifying the driving situations for which an assisted control can really improve the piloting performances compared to a traditional manual control.
{"title":"Assisted Control Mode for a Smart Wheelchair","authors":"G. Bourhis, M. Sahnoun","doi":"10.1109/ICORR.2007.4428422","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428422","url":null,"abstract":"Our aim is to implement a force feedback joystick on a powered wheelchair provided with a set of range sensors. This system is intended to people with disability for whom a traditional joystick control (or any other adapted sensor control) is difficult or impossible because of too severe motor disabilities. The force feedback is calculated according to the proximity of the obstacles and helps the user, without forcing him, to move towards the free direction. Adopted methodology aims at circumventing certain obstacles which slow down the diffusion and thus the current use of smart wheelchairs: problems of safety, of reliability and of acceptability in particular. The results presented aim at identifying the driving situations for which an assisted control can really improve the piloting performances compared to a traditional manual control.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132718126","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428453
S. Kousidou, N. Tsagarakis, C. Smith, D. Caldwell
Stroke forms one of the leading causes of disability in most industrialized countries. Robot mediated task-orientated physiotherapy is the recent answer to the shortage of staff and the cost associated with the treatment of strokes. The role of biofeedback as a rehabilitation tool has also being acknowledged recently. In this paper we present Rehab Lab, a multi-modal environment for implementing task-orientated therapy. The work focuses on how an arm exoskeleton operating in 3D space can be used in conjunction with rehabilitation software for training patients in relearning daily motor tasks as well as providing them with quality feedback. The Salford rehabilitation exoskeleton (SRE) is used as an assistive device which helps individuals retrain in performing motor tasks by assisting them to complete therapy regimes.
{"title":"Task-Orientated Biofeedback System for the Rehabilitation of the Upper Limb","authors":"S. Kousidou, N. Tsagarakis, C. Smith, D. Caldwell","doi":"10.1109/ICORR.2007.4428453","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428453","url":null,"abstract":"Stroke forms one of the leading causes of disability in most industrialized countries. Robot mediated task-orientated physiotherapy is the recent answer to the shortage of staff and the cost associated with the treatment of strokes. The role of biofeedback as a rehabilitation tool has also being acknowledged recently. In this paper we present Rehab Lab, a multi-modal environment for implementing task-orientated therapy. The work focuses on how an arm exoskeleton operating in 3D space can be used in conjunction with rehabilitation software for training patients in relearning daily motor tasks as well as providing them with quality feedback. The Salford rehabilitation exoskeleton (SRE) is used as an assistive device which helps individuals retrain in performing motor tasks by assisting them to complete therapy regimes.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133291384","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428564
K. Nagai, Y. Kojima, S. Yonemoto, T. Okubo, R. Loureiro, W. Harwin
This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed.
{"title":"Structural Design of an Escort Type Rehabilitation Robot for Post-Stroke Therapies of Upper-Limb","authors":"K. Nagai, Y. Kojima, S. Yonemoto, T. Okubo, R. Loureiro, W. Harwin","doi":"10.1109/ICORR.2007.4428564","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428564","url":null,"abstract":"This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131810531","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428437
A. Kargov, H. Breitwieser, H. Klosek, C. Pylatiuk, S. Schulz, G. Bretthauer
In this paper the design, construction, technical characteristics, functionality and control scheme of a new modular hand-arm robot system are presented. This system is designed for applications in robotic and rehabilitation medicine. The development of novel, compact modules is based on flexible fluidic actuators which are equipped with measurement and control elements for a robust control and, hence, precise positioning of the modules. Modules with pneumatic flexible driving elements are characterized by a mechanical modularity that allows for various types of robot kinematics and in particular for lightweight and low-cost concepts. Using the module, medium-sized enterprises will be able to rapidly and reliably adapt this system to various working environments and tasks and develop innovative robot systems for new and existing markets.
{"title":"Design of a Modular Arm Robot System based on Flexible Fluidic Drive Elements","authors":"A. Kargov, H. Breitwieser, H. Klosek, C. Pylatiuk, S. Schulz, G. Bretthauer","doi":"10.1109/ICORR.2007.4428437","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428437","url":null,"abstract":"In this paper the design, construction, technical characteristics, functionality and control scheme of a new modular hand-arm robot system are presented. This system is designed for applications in robotic and rehabilitation medicine. The development of novel, compact modules is based on flexible fluidic actuators which are equipped with measurement and control elements for a robust control and, hence, precise positioning of the modules. Modules with pneumatic flexible driving elements are characterized by a mechanical modularity that allows for various types of robot kinematics and in particular for lightweight and low-cost concepts. Using the module, medium-sized enterprises will be able to rapidly and reliably adapt this system to various working environments and tasks and develop innovative robot systems for new and existing markets.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134348295","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428410
M. Wellner, M. Guidali, J. Zitzewitz, R. Riener
The actuated gait orthosis Lokomat has been developed at University Hospital Balgrist for patients with impairments due to neurological or orthopedic lesions. To enhance rehabilitation with the Lokomat, patient-cooperative techniques have been developed. Patient-cooperative means that the technical system considers the patient intention and efforts rather than imposing any predefined movement or inflexible strategy. It is hypothesized that patient-cooperative techniques have the potential to improve the therapeutic outcome compared to classical rehabilitation strategies. One example for patient-cooperative techniques are immersive, multi-modal scenarios. They can provide task-specific feedback and are expected to increase patient's motivation to contribute. One interaction possibility is haptic feedback which can be provided by the gait orthosis to simulate interaction with solid objects. The work described here investigated the potential of the Lokomat to provide haptic feedback. Frequency response measurements under closed-loop conditions were conducted to determine the force and position bandwidths. The final goal was to develop an approach for haptic rendering and optimize its parameters with experiments. Optimization criteria were object hardness and stability during object contact. Results of the bandwidth measurements show that the angle bandwidth is 3 Hz (excitation angle amplitude: 3deg) and the force bandwidth 8 Hz (excitation force amplitude: 10 N). The implemented haptic approach combines an impulsive force component, a penalty force component, and a component for lateral friction force. Best results were achieved for a combination of sine shape impulse, spring constant K with 2000 N/m, and modified damping coefficient B with 300 Ns/m2.
{"title":"Using a Robotic Gait Orthosis as Haptic Display - A Perception-Based Optimization Approach","authors":"M. Wellner, M. Guidali, J. Zitzewitz, R. Riener","doi":"10.1109/ICORR.2007.4428410","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428410","url":null,"abstract":"The actuated gait orthosis Lokomat has been developed at University Hospital Balgrist for patients with impairments due to neurological or orthopedic lesions. To enhance rehabilitation with the Lokomat, patient-cooperative techniques have been developed. Patient-cooperative means that the technical system considers the patient intention and efforts rather than imposing any predefined movement or inflexible strategy. It is hypothesized that patient-cooperative techniques have the potential to improve the therapeutic outcome compared to classical rehabilitation strategies. One example for patient-cooperative techniques are immersive, multi-modal scenarios. They can provide task-specific feedback and are expected to increase patient's motivation to contribute. One interaction possibility is haptic feedback which can be provided by the gait orthosis to simulate interaction with solid objects. The work described here investigated the potential of the Lokomat to provide haptic feedback. Frequency response measurements under closed-loop conditions were conducted to determine the force and position bandwidths. The final goal was to develop an approach for haptic rendering and optimize its parameters with experiments. Optimization criteria were object hardness and stability during object contact. Results of the bandwidth measurements show that the angle bandwidth is 3 Hz (excitation angle amplitude: 3deg) and the force bandwidth 8 Hz (excitation force amplitude: 10 N). The implemented haptic approach combines an impulsive force component, a penalty force component, and a component for lateral friction force. Best results were achieved for a combination of sine shape impulse, spring constant K with 2000 N/m, and modified damping coefficient B with 300 Ns/m2.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115706815","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428492
X. Navarro, N. Lago, M. Vivó, K. Yoshida, K. Koch, W. Poppendieck, S. Micera
Longitudinal intrafascicular electrodes (LIFEs) designed to be placed inside a peripheral nerve seem adequate devices for constituting a nerve-prosthesis interface. In this study we evaluated the functional and morphological effects of newly designed polyimide-based thin-film (tf-)LIFEs implanted in the rat sciatic nerve for 3 months. The tf-LIFEs used are highly flexible, and have 8 regularly spaced contacts, 4 at each side of the folded structure. Functional results at 1 month showed a mild decline in nerve conduction velocity and amplitude of muscle responses, which recovered during the following 2 months. Histological results showed a mild scar response around the intraneural electrode, but no signs of axonal loss and degeneration. Longitudinally implanted LIFEs behaved slightly better than transversally inserted LIFEs. Acute experiments proved that selective neural signal recording and nerve stimulation could be achieved from the different active sites in one tf-LIFE.
{"title":"Neurobiological evaluation of thin-film longitudinal intrafascicular electrodes as a peripheral nerve interface","authors":"X. Navarro, N. Lago, M. Vivó, K. Yoshida, K. Koch, W. Poppendieck, S. Micera","doi":"10.1109/ICORR.2007.4428492","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428492","url":null,"abstract":"Longitudinal intrafascicular electrodes (LIFEs) designed to be placed inside a peripheral nerve seem adequate devices for constituting a nerve-prosthesis interface. In this study we evaluated the functional and morphological effects of newly designed polyimide-based thin-film (tf-)LIFEs implanted in the rat sciatic nerve for 3 months. The tf-LIFEs used are highly flexible, and have 8 regularly spaced contacts, 4 at each side of the folded structure. Functional results at 1 month showed a mild decline in nerve conduction velocity and amplitude of muscle responses, which recovered during the following 2 months. Histological results showed a mild scar response around the intraneural electrode, but no signs of axonal loss and degeneration. Longitudinally implanted LIFEs behaved slightly better than transversally inserted LIFEs. Acute experiments proved that selective neural signal recording and nerve stimulation could be achieved from the different active sites in one tf-LIFE.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115812692","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 : 2007-06-13DOI: 10.1109/ICORR.2007.4428486
Qiang Zeng, Etienne Burdet, B. Rebsamen, C. Teo
The collaborative wheelchair assistant (CWA) is a robotic wheelchair which makes full use of human skills, by involving the user into the navigation control. The user gives the high-level commands and directly controls the speed, while the low-level control is taken over by the machine, which is tracking a software defined guide path. This paper presents an evaluation of the CWA system, consisting of experiments performed with human subjects. We investigated the performance of the system in terms of its interaction with healthy subjects and motion efficiency. Initial experiments with a cerebral palsy subject were also performed. The results show that path guidance brings safe motion and drastically simplifies the control. The wheelchair user adopts a driving behavior which is optimal from the first trial and requires little intervention.
{"title":"Evaluation of the Collaborative Wheelchair Assistant System","authors":"Qiang Zeng, Etienne Burdet, B. Rebsamen, C. Teo","doi":"10.1109/ICORR.2007.4428486","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428486","url":null,"abstract":"The collaborative wheelchair assistant (CWA) is a robotic wheelchair which makes full use of human skills, by involving the user into the navigation control. The user gives the high-level commands and directly controls the speed, while the low-level control is taken over by the machine, which is tracking a software defined guide path. This paper presents an evaluation of the CWA system, consisting of experiments performed with human subjects. We investigated the performance of the system in terms of its interaction with healthy subjects and motion efficiency. Initial experiments with a cerebral palsy subject were also performed. The results show that path guidance brings safe motion and drastically simplifies the control. The wheelchair user adopts a driving behavior which is optimal from the first trial and requires little intervention.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123491968","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}
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