Collaborative control of the manus manipulator

被引：4
|
作者：
Driessen B.J.F. [1 ]
Kate T.K.Ten. [1 ]
Liefhebber F. [1 ]
Versluis A.H.G. [1 ]
van Woerden J.A. [1 ]
机构：
[1] TNO Science and Industry, 2600 AD Delft
来源：
Universal Access in the Information Society | 2005年 / 4卷 / 2期
关键词：
Collaborative control; Manus; Rehabilitation robotics; Sensor fusion; Visual servoing;
D O I：
10.1007/s10209-005-0121-6
中图分类号：
学科分类号：
摘要：
The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons. It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper), the control of which can be improved, especially for users with very limited rest functionality. The approach presented in this paper combines autonomous vision based control with direct user control resulting in a collaborative controller. Results of preliminary user trials show that this technique allows severely disabled persons to manipulate objects more easily. © Springer-Verlag 2005.
引用
收藏
页码：165 / 173
页数：8
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