Robotic arm operation training system for persons with disabled upper limbs

Yamanobe, Natsuki; Wakita, Yujin; Nagata, Kazuyuki; Clerc, Mathias; Kinose, Takashi; Ōno, Eiichi

doi:10.1109/roman.2010.5598660

Cited by 4 publications

(5 citation statements)

References 8 publications

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“…When the wheelchair gets to B, the manipulated variable of the joystick is 𝑇 𝐵 , with 𝑇 𝑏𝑦 and 𝑇 𝑏𝑥 in crosswise directions respectively. The wheelchair then drives straight and keeps the manipulated variable as 𝑇 𝐵 until the trajectory intersects the x-axis in position C. Here, we define the distance between position C(𝑥 𝑐 , 𝑦 𝑐 ) and target position P as the moving error represented by e, which can be calculated by (4).…”

Section: A Moving Error Of Electric Wheelchairmentioning

confidence: 99%

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Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Yang

Guo

Sakamoto

et al. 2022

Journal of Robotics and Control

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Electric wheelchair-mounted robotic arms can help patients with disabilities to perform their activities in daily living (ADL). Joysticks or keypads are commonly used as the operating interface of Wheelchair-mounted robotic arms. Under different scenarios, some patients with upper limb disabilities such as finger contracture cannot operate such interfaces smoothly. Recently, manual interfaces for different symptoms to operate the wheelchair-mounted robotic arms are being developed. However, the stop the wheelchairs in an appropriate position for the robotic arm grasping task is still not easy. To reduce the individual’s burden in operating wheelchair in narrow spaces and to ensure that the chair always stops within the working range of a robotic arm, we propose here an operating system for an electric wheelchair that can automatically drive itself to within the working range of a robotic arm by capturing the position of an AR marker via a chair-mounted camera. Meanwhile, the system includes an error correction model to correct the wheelchair’s moving error. Finally, we demonstrate the effectiveness of the proposed system by running the wheelchair and simulating the robotic arm through several courses.

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Section: A Moving Error Of Electric Wheelchairmentioning

confidence: 99%

“…Wheelchairs are an essential way of transportation for people with these diseases. In recent years, electric wheelchair-mounted robotic arms are being developed to help patients with disabilities to perform their daily activities [3][4][5][6][7]. Such activities involve reaching for everyday objects such as food or drink, books, and so on.…”

Section: Introductionmentioning

confidence: 99%

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Yang

Guo

Sakamoto

et al. 2022

Journal of Robotics and Control

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“…Precise human ergonomic evaluations with real manipulator "RAPUDA" are reported in [11]. The examinees responses are generally good.…”

Section: Operation and Evaluation By Usersmentioning

confidence: 99%

“…The examinees responses are generally good. The evaluations by real users are the Pegboard task in [11]. The test and evaluation in their daily life should be performed for the next step.…”

Section: Operation and Evaluation By Usersmentioning

confidence: 99%

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Single-Switch User Interface for Robot Arm to Help Disabled People Using RT-Middleware

Wakita

Yamanobe

Nagata

et al. 2011

Journal of Robotics

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We are developing a manipulator system in order to support disabled people with less muscle strength such as muscular dystrophy patients. Such a manipulator should have an easy user interface for the users to control it. But the supporting manipulator for disabled people cannot make large industry, so we should offer inexpensive manufacturing way. These type products are called "orphan products." We report on the construction of the user interface system using RT-Middleware which is an open software platform for robot systems. Therefore other user interface components or robot components which are adapted to other symptoms can be replaced with the user interface without any change of the contents. A single switch and scanning menu panel are introduced as the input device for the manual control of the robot arm. The scanning menu panel is designed to perform various actions of the robot arm with the single switch. A manipulator simulation system was constructed to evaluate the input performance. Two muscular dystrophy patients tried our user interface to control the robot simulator and made comments. According to the comments by them, we made several improvements on the user interface. This improvements examples prepare inexpensive manufacturing way for orphan products.

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User evaluation to apply the robotic arm RAPUDA for an upper-limb disabilities Patient's Daily Life

Wakita

Yoon

Yamanobe

2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Robotic arm operation training system for persons with disabled upper limbs

Cited by 4 publications

References 8 publications

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Electric Wheelchair Hybrid Operating System Coordinated with Working Range of a Robotic Arm

Single-Switch User Interface for Robot Arm to Help Disabled People Using RT-Middleware

User evaluation to apply the robotic arm RAPUDA for an upper-limb disabilities Patient's Daily Life

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