Assessment of the Human Interaction with HOPE Rehabilitation Robot

• 영문명: Assessment of the Human Interaction with HOPE Rehabilitation Robot
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Dimitar Stefanov Yuli Toshev
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.3 No.4, 15~21쪽, 전체 7쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2002.12.01

영문 초록

  Present paper concerns an evaluation of the head-operated rehabilitation robot HOPE that was developed at the Bulgarian Academy of Sciences. In order to assess the robot performance and to improve it in our next design, we tried to formulate some criteria for quantitative assessment of the applied human-machine interface and to make some preliminary tests of the applied control algorithm in order to investigate it suitability for users with movement disorders. Based on analysis of the intentional head motions performed by the operator for control of the robot, current robot evaluation aims at assessment of user’s ability for fine positioning of the gripper and evaluation of the errors due to the distance between the user’s head and the robotic gripper. The SYDEK system (also developed at the Bulgarian Academy of Sciences), was utilized for the tests. A special head-tracking system and a test bed for assessment of fine force dosage were additionally designed for the purpose of the experiments. The test results show that users can easily learn how to control the robot. The robot algorithm, based on the end-effector control strategy, significantly reduces the cognitive efforts of the users, enabling them simultaneous control of up to three degrees of freedom.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. EFFICIENCY OF THE HUMAN-ROBOT SYSTEMS
Ⅲ. ASSESSMENT OF THE USER’S ABILITY TO PERCEIVE 2D SCENE, TO GENERATE COMMAND STRATEGIES, AND TO SET HIS/HER COMMANDS BY INTENTIONAL HEAD MOTIONS
Ⅳ. ASSESSMENT OF THE USER’S ABILITY FOR VISUAL PERCEPTION AND ELABORATION OF HEAD CONTROLS TO THE ROBOT
Ⅴ. EVALUATION
Ⅵ. CONCLUSION
ACKNOWLEDGEMENT
REFERENCES

키워드

Rehabilitation robot head control HMI evaluation