Task execution of a wheelchair mounted robotic arm incorporated with active compliance control

Wheelchair mounted robotic arm is an assistive device designed to help physical disabled people to recover some manipulation capabilities in activities of daily livings. During task execution of wheelchair mounted robotic arm applications, both the requirement of safety and task accomplishment has to be satisfied. We have developed a wheelchair mounted robotic arm with mechanical gravity compensation, two torque sensors are mounted on the base joints to realized a sensor based active compliance control, thus a control structure is proposed to unify task oriented control and compliance control, the propsed control structure enable task execution even during an external collision.