Abstract|W e argue that intelligence is necessary in robots used for rehabilitation in order to reduce the amount o f mental activity needed by the user of these robots. With this in mind, the areas of research relevant to imparting robotic systems with the capability of assuming a more intelligent role are identi ed. We describe our implementation of functionalities such as fuzzy command interpretation, object recognition, face tracking, and task planning and learning, which are part of the ISAC, an intelligent system designed to feed individuals with physical disabilities.

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The long term goal of our research at the Intelligent Robotic Laboratory at Vanderbilt University is to develop advanced intelligent robotic aid systems for human services. As a first step toward our goal, the current thrusts of our R&D are centered on the development of an intelligent robotic aid called the ISAC (Intelligent Soft Arm Control). In this paper, we describe the overall system architecture and current activities in intelligent control, adaptive/interactive control and task learning.