Accessibility navigation

Performance statistics of a head-operated force-reflecting rehabilitation robot system

Chen, S., Rahman, T. and Harwin, W. S. ORCID: (1998) Performance statistics of a head-operated force-reflecting rehabilitation robot system. IEEE Transactions on Rehabilitation Engineering, 6 (4). pp. 406-414. ISSN 1063-6528

Full text not archived in this repository.

It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing.

To link to this item DOI: 10.1109/86.736155


Researchers in the rehabilitation engineering community have been designing and developing a variety of passive/active devices to help persons with limited upper extremity function to perform essential daily manipulations. Devices range from low-end tools such as head/mouth sticks to sophisticated robots using vision and speech input. While almost all of the high-end equipment developed to date relies on visual feedback alone to guide the user providing no tactile or proprioceptive cues, the “low-tech” head/mouth sticks deliver better “feel” because of the inherent force feedback through physical contact with the user's body. However, the disadvantage of a conventional head/mouth stick is that it can only function in a limited workspace and the performance is limited by the user's strength. It therefore seems reasonable to attempt to develop a system that exploits the advantages of the two approaches: the power and flexibility of robotic systems with the sensory feedback of a headstick. The system presented in this paper reflects the design philosophy stated above. This system contains a pair of master-slave robots with the master being operated by the user's head and the slave acting as a telestick. Described in this paper are the design, control strategies, implementation and performance evaluation of the head-controlled force-reflecting telestick system.

Item Type:Article
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:19022
Uncontrolled Keywords:Fitt's law, control strategies, conventional head/mouth stick, force feedback control, head-operated force-reflecting rehabilitation robot system, headstick, high-end equipment, inherent force feedback, master-slave robots, passive/active devices, performance statistics, sensory feedback, telestick, visual feedback

University Staff: Request a correction | Centaur Editors: Update this record

Page navigation