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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator
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System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator

机译：智能辅助机器人UCF-MANUS的系统设计与实现

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摘要

This paper reports on the system design for integrating the various processes needed for end-to-end implementation of a smart assistive robotic manipulator. Specifically, progress is reported in the empowerment of the UCF-MANUS system with a suite of sensory, computational, and multimodal interface capabilities so that its autonomy can be made accessible to users with a wide range of disabilities. Laboratory experiments are reported to demonstrate the ability of the system prototype to successfully and efficiently complete object retrieval tasks. Benchmarking of the impact of the various interface modalities on user performance is performed via empirical studies with healthy subjects operating the robot in a simulated instrumental activities of daily living tasks setup. It is seen through a analysis of the collected quantitative data that the prototype is interface neutral and shows robustness to variations in the tasks and the environment. It is also seen that the prototype autonomous system is quantitatively superior to Cartesian control for all tested tasks under a “number of commands” metric, however, under a “time to task completion” metric, the system is seen to be superior for “hard” tasks but not for “easy” tasks.
机译：本文报告了用于集成智能辅助机器人操纵器的端到端实施所需的各种过程的系统设计。具体来说，据报道，UCF-MANUS系统具有一系列感官，计算和多模式界面功能，从而为众多残障用户提供了自治的能力。据报道，实验室实验证明了系统原型成功，高效地完成对象检索任务的能力。通过对健康受试者在日常任务设置的模拟工具活动中操作机器人的健康受试者进行的经验研究，对各种界面模式对用户性能的影响进行基准测试。通过对收集到的定量数据的分析可以看出，原型是界面无关的，并且显示出对任务和环境变化的鲁棒性。还可以看到，在“命令数量”度量标准下，对于所有测试任务，原型自治系统在数量上均优于笛卡尔控制，但是在“任务完成时间”度量标准下，该系统在“困难”条件下具有优势。 ”任务，但不适用于“简单”任务。

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