A virtual headstick for people with spinal cord injuries
Chen, S., Rahman, T., Foulds, R., Heredia, E. and Harwin, W. S. (1998) A virtual headstick for people with spinal cord injuries. Robotica, 16 (5). pp. 499-507. ISSN 0263-5747
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To link to this article DOI: 10.1017/S0263574798000654
This paper presents a virtual headstick system as an alternative to the conventional passive headstick for persons with limited upper extremity function. The system is composed of a pair of kinematically dissimilar master-slave robots with the master robot being operated by the user's head. At the remote site, the end-effector of the slave robot moves as if it were at the tip of an imaginary headstick attached to the user's head. A unique feature of this system is that through force-reflection, the virtual headstick provides the user with proprioceptive information as in a conventional headstick, but with an augmentation of workspace volume and additional mechanical power. This paper describes the test-bed development, system identification, bilateral control implementation, and system performance evaluation.