• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>2002 ASME International Mechanical Engineering Congress and Exposition , Nov 17-22, 2002, New Orleans, Louisiana >DEVELOPMENT OF ATELEROBOTIC SYSTEM TO ASSIST PERSONS WITH DISABILITIES
【24h】

DEVELOPMENT OF ATELEROBOTIC SYSTEM TO ASSIST PERSONS WITH DISABILITIES

机译：开发有氧运动系统以帮助残障人士

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper describes the development of intelligent mapping from a haptic user interface to a remote manipulator to assist individuals with disabilities performing manipulation tasks. This mapping, referred to an assistance function, is determined on the basis of environmental model or sensory data to guide the motion of a telerobotic manipulator while performing a given task. Human input is enhanced rather than superseded by the computer. Three manual dexterity assessment tests commonly used in occupational therapy field were chosen to implement several forms of assistance functions designed to augment the human performance. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK Software. One of the tests was chosen to be implemented in a real telerobotic system consisting of the haptic device as a Master and the Robotics Research Corporation manipulator (RRC K-2107) with a vision system and laser range data as a Slave. The results demonstrated that the forms of assistance provided reduced the execution times and increased the performance of the chosen tasks. In addition, these results suggest that the introduction of the haptic rendering capabilities, including the force feedback, offers special benefit to motion-impaired users by augmenting their performance on job-related tasks.
机译：本文介绍了从触觉用户界面到远程操纵器的智能映射的发展，以帮助残障人士执行操纵任务。该映射被称为辅助功能，是根据环境模型或感官数据确定的，以在执行给定任务时指导远程机器人操纵器的运动。人工输入得到增强，而不是被计算机取代。选择了三种通常在职业治疗领域中使用的手动灵活性评估测试，以实施旨在增强人类绩效的多种形式的辅助功能。用于这些任务的测试台由六自由度力反射触觉接口设备，带有GHOST SDK软件的PHANToM组成。选择了其中一项测试，以在真正的遥控机器人系统中执行该系统，该系统由作为主机的触觉设备和机器人研究公司的机械手（RRC K-2107）组成，其中视觉系统和从机的激光测距数据组成。结果表明，提供的协助形式减少了执行时间并提高了所选任务的性能。此外，这些结果表明，包括力反馈在内的触觉渲染功能的引入，通过增强他们在工作相关任务上的表现，为行动不便的用户带来了特殊的好处。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号