Maximizing Manipulation Capabilities for People with Disabilities Using a 9-DoF Wheelchair-Mounted Robotic Arm System

Author

Alqasemi, Redwan ; Dubey, Rajiv

Author_Institution

Univ. of South Florida, Tampa

fYear

2007

fDate

13-15 June 2007

Firstpage

212

Lastpage

221

Abstract

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.

Keywords

handicapped aids; manipulators; medical robotics; patient rehabilitation; redundant manipulators; telerobotics; 2-DoF power wheelchair control; 7-DoF robotic arm control; 9-DoF system; activities of daily living; autonomous coordinated Cartesian control; joint limits; manipulation capability; mobility-impaired persons; puff; redundancy; sensor assist function; sip control; teleoperation; voice control; wheelchair-mounted robotic arm system; workspace limitation; Control systems; Extremities; Manipulator dynamics; Mobile robots; Rehabilitation robotics; Robot control; Robot kinematics; Robot sensing systems; Usability; Wheelchairs; ADL; Redundancy; Rehabilitation; Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on

Conference_Location

Noordwijk

Print_ISBN

978-1-4244-1320-1

Electronic_ISBN

978-1-4244-1320-1

Type

conf

DOI

10.1109/ICORR.2007.4428429

Filename

4428429