Machine vision
A review of biologically motivated space-variant data reduction models for robotic vision
Computer Vision and Image Understanding
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
Robotic smart house to assist people with movement disabilities
Autonomous Robots
Effective learning system techniques for human-robot interaction in service environment
Knowledge-Based Systems
Safety-Ensuring Systematic Design for Service Robots
ICOST '08 Proceedings of the 6th international conference on Smart Homes and Health Telematics
Stable trajectory generator: echo state network trained by particle swarm optimization
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Integrated dimensional and drive-train design optimization of a light-weight anthropomorphic arm
Robotics and Autonomous Systems
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In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users (that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users (with spinal cord injury).