Accessibility navigation


A virtual head-stick rehabilitation robot system

Salganicoff, M., Jayachandran, V., Pine, D., Rahman, T., Mahoney, R., Chen, S., Kumar, V., Harwin, W. S. and Gonzalez, J.G. (1995) A virtual head-stick rehabilitation robot system. In: 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century. IEEE, pp. 2413-2418. ISBN 0780325591

Full text not archived in this repository.

To link to this article DOI: 10.1109/ICSMC.1995.538143

Abstract/Summary

For individuals with upper-extremity motor disabilities, the head-stick is a simple and intuitive means of performing manipulations because it provides direct proprioceptive information to the user. Through practice and use of inherent proprioceptive cues, users may become quite adept at using the head-stick for a number of different tasks. The traditional head-stick is limited, however, to the user's achievable range of head motion and force generation, which may be insufficient for many tasks. The authors describe an interface to a robot system which emulates the proprioceptive qualities of a traditional head-stick while also allowing for augmented end-effector ranges of force and motion. The design and implementation of the system in terms of coordinate transforms, bilateral telemanipulator architecture, safety systems, and system identification of the master is described, in addition to preliminary evaluation results.

Item Type:Book or Report Section
Refereed:Yes
Divisions:Faculty of Science > School of Systems Engineering
ID Code:19065
Publisher:IEEE

Centaur Editors: Update this record

Page navigation