Telerobotic Haptic System to Enhance the Performance of Vocational Tests by Motion-Impaired Users

• 영문명: Telerobotic Haptic System to Enhance the Performance of Vocational Tests by Motion-Impaired Users
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Norali Pernalete Ramakrishna Gottipati Wentao Yu Rajiv Dubey
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.1, 17~21쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.04.01

영문 초록

  This paper describes the development of intelligent mapping from a haptic user interface to a remote manipulator to assist individuals with disabilities performing vocational 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 Human input is enhanced rather than superseded by the computer.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 the occupational therapy field, were chosen to implement the 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.
  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.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. BACKGROUND
Ⅲ. ASSISTANCE FUNCTIONS DEVELOPMENT
Ⅳ. SIMULATION EXPERIMENTS
Ⅴ. RESULTS
Ⅵ. CONCLUSIONS
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