An Overview of the Development of Handy 1, a Rehabilitation Robot to Assist the Severely Disabled
Journal of Intelligent and Robotic Systems
Model-Driven Interactive System Design for Therapy Robots
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
An elastic path controller for a collaborative wheelchair assistant
Proceedings of the 1st international convention on Rehabilitation engineering & assistive technology: in conjunction with 1st Tan Tock Seng Hospital Neurorehabilitation Meeting
Strategy of approach for seizure of an assistive mobile manipulator
Robotics and Autonomous Systems
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Disabled people assistance is developing thanks to progress of new technologies. A manipulator arm mounted on a mobile robot can assist a disabled person for a partial restoration of the manipulative function. A user pilots the robot via a control station, using enhanced reality techniques. To be affordable such a system must be cost-effective. That constraint limits perception means: ultrasonic ring, dead reckoning, and low-cost camera. The development of the project has followed two stages. The first one consists of giving maximum autonomy capacities to the robot for planning, navigation, and localisation. The second stage is the study of the Man–Machine Co-operation (MMC) for the command of the robot system. Indeed, the aim is to perform a mission (mobile robot displacement), using the robot capacities and man possibilities. Users build their own strategies to carry out a mission successively. The strategy can be seen as a succession of control modes, which can be manual, automatic, or shared. In the latter case, the control of the robot is shared between a human operator and machine. The main problem is then task allocation between both intelligent entities. Each one has planification, navigation, and localisation abilities. The paper presents our approach for planning and navigation and develops a more specific study about robot localisation.