Scaled Teleoperation Approach for Measuring Manipulation Capabilities of Persons with Disabilities
이용수 4
- 영문명
- Scaled Teleoperation Approach for Measuring Manipulation Capabilities of Persons with Disabilities
- 발행기관
- 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
- 저자명
- Norali Pernalete Ramakrishna Gottipati Sandra Edwards 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, 31~36쪽, 전체 6쪽
- 주제분류
- 공학 > 제어계측공학
- 파일형태
- 발행일자
- 2003.04.01
구매일시로부터 72시간 이내에 다운로드 가능합니다.
이 학술논문 정보는 (주)교보문고와 각 발행기관 사이에 저작물 이용 계약이 체결된 것으로, 교보문고를 통해 제공되고 있습니다.
국문 초록
영문 초록
This slave manipulator"s telerobotic mapping provides assistance to the user that approximates the range of motion accomplished using shoulder movements similar to human shoulder flexion, and shoulder horizontal abduction, elbow flexion and extension and a gross pinch.
Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison was made between the implementation of the constraints on the Master and the Slave sides of the system. The system consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator.
The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.
목차
Ⅰ. INTRODUCTION
Ⅱ. BACKGROUND
Ⅲ. ASSISTANCE FUNCTIONS DEVELOPMENT
Ⅳ. EXPERIMENTS AND RESULTS
Ⅴ. Application to Various Forms of Disabilities
Ⅵ. CONCLUSIONS
REFERENCES
키워드
해당간행물 수록 논문
- HWRS-ERC Seminars
- Conferences & Workshops Upcoming etc.
- Applying UML to Task Analysis of the User Interface for Rehabilitation Robotic Systems
- Review of Rehabilitation Robotics Applications
- GIVING-A-HAND - Human-centered design of a small, counter-top, robotic kitchen assistant for elderly and disabled persons
- Simulation of Wheelchair Use
- EDITORIAL BOARD
- Scaled Teleoperation Approach for Measuring Manipulation Capabilities of Persons with Disabilities
- Telerobotic Haptic System to Enhance the Performance of Vocational Tests by Motion-Impaired Users
- A Kinetic Energy Based Potential Field Method for the Local Obstacle Avoidance of Mobile Robots
- Evaluation of Mobility and Navigation Performance for Personal Robots
- An Investigation on the Properties of Magneto Rheololgical Fluids for Assisting Upper Limb Movement Disorders on ADL
- Newly Designed Rehabilitation Robot System for Walking-Aid with Pneumatic Actuator
- Obstacle Avoidance with Visual Control of Adjustable Zoom-Cameras
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