Task Execution with the Rehabilitation Robotic System FRIEND Ⅱ in Intelligent Home Environment

• 영문명: Task Execution with the Rehabilitation Robotic System FRIEND Ⅱ in Intelligent Home Environment
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: O. Prenzel J. Feuser I. Volosyak O. Ivlev A. Graser
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.2, 39~49쪽, 전체 11쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.06.01

영문 초록

  Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user"s autonomy within daily life or working environments. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks.
  A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system as well as its environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This contribution is based on current conference publications which focused either on the advances in the hardware components [1] respectively the software concept [2] of the rehabilitation robotic system FRIEND Ⅱ. This article gives complete overview in conjunction with recent details.

목차

Abstract
1. INTRODUCTION
2. FRIEND Ⅱ- THE GENERAL DESCRIPTION
3. ADVANCED MANIPULATION CAPABILITIES
4. THE SOFTWARE-FRAMEWORK MASSiVE
5. TASK EXECUTION IN INTELLIGENT HOME ENVIRONMENT
6. INFRASTRUCTURE FOR SEMI-AUTONOMOUS TASK EXEUTION WITHIN DISTRIBUTED SYSTEMS
7. DEVELOPMENT OF FUNCTIONALITY BY SKILL-PROGRAMMING
8. CONCLUSION
REFERENCES