A virtual head-stick rehabilitation robot system

Salganicoff, M., Jayachandran, V., Pine, D., Rahman, T., Mahoney, R., Chen, S., Kumar, V., Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 and Gonzalez, J.G. (1995) A virtual head-stick rehabilitation robot system. In: 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century. IEEE, pp. 2413-2418. ISBN 0780325591 doi: 10.1109/ICSMC.1995.538143

Abstract/Summary

For individuals with upper-extremity motor disabilities, the head-stick is a simple and intuitive means of performing manipulations because it provides direct proprioceptive information to the user. Through practice and use of inherent proprioceptive cues, users may become quite adept at using the head-stick for a number of different tasks. The traditional head-stick is limited, however, to the user's achievable range of head motion and force generation, which may be insufficient for many tasks. The authors describe an interface to a robot system which emulates the proprioceptive qualities of a traditional head-stick while also allowing for augmented end-effector ranges of force and motion. The design and implementation of the system in terms of coordinate transforms, bilateral telemanipulator architecture, safety systems, and system identification of the master is described, in addition to preliminary evaluation results.

Item Type	Book or Report Section
URI	https://reading-clone.eprints-hosting.org/id/eprint/19065
Item Type	Book or Report Section
Refereed	Yes
Divisions	Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Publisher	IEEE
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