Collaborative Control of the Manus Manipulator

Authors:
B. J. F. Driessen;T. K. Ten. Kate;F. Liefhebber;A. H. G. Versluis;J. A. van Woerden
Affiliations:
TNO Science& Industry, PO Box 155, 2600, AD, The Netherlands;TNO Science& Industry, PO Box 155, 2600, AD, The Netherlands;TNO Science& Industry, PO Box 155, 2600, AD, The Netherlands;TNO Science& Industry, PO Box 155, 2600, AD, The Netherlands;TNO Science& Industry, PO Box 155, 2600, AD, The Netherlands
Venue:
Universal Access in the Information Society
Year:
2005

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“I want that”: Human-in-the-loop control of a wheelchair-mounted robotic arm

Applied Bionics and Biomechanics - Assistive and Rehabilitation Robotics

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Abstract

The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons. It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper), the control of which can be improved, especially for users with very limited rest functionality. The approach presented in this paper combines autonomous vision based control with direct user control resulting in a collaborative controller. Results of preliminary user trials show that this technique allows severely disabled persons to manipulate objects more easily.