9 Enhancing the Usability of the MANUS Manipulator by Using Visual Servoing

Versluis, Anke; Driessen, Brian J.; Woerden, J.A. van

doi:10.1007/10946978_9

Cited by 6 publications

(4 citation statements)

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“…Examples are colour [13], texture [14] and colour histograms [15,16]. Visual servoing demands techniques that are suited for realtime implementation.…”

Section: Visionmentioning

confidence: 99%

Collaborative Control of the Manus Manipulator

Driessen¹,

Kate²,

Liefhebber³

et al. 2005

Univ Access Inf Soc

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The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons. It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper), the control of which can be improved, especially for users with very limited rest functionality. The approach presented in this paper combines autonomous vision based control with direct user control resulting in a collaborative controller. Results of preliminary user trials show that this technique allows severely disabled persons to manipulate objects more easily.

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“…Examples are colour [13], texture [14] and colour histograms [15,16]. Visual servoing demands techniques that are suited for realtime implementation.…”

Section: Visionmentioning

confidence: 99%

Collaborative Control of the Manus Manipulator

Driessen¹,

Kate²,

Liefhebber³

et al. 2005

Univ Access Inf Soc

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“…During the lab evaluation, the functionality of the following features were evaluated: a new method of mode switching [4], a new control mode called pilot mode [4,5,7,9], and an altered centre of rotation of the gripper [4]. These features were evaluated using healthy able-bodied subjects.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of New User Interface Features for the MANUS Robot Arm

Tijsma

Liefhebber²,

Herder³

9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.

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New user interface features and a new user interface for the MANUS robot arm, were designed in order to reduce the high cognitive and physical load that users experience when controlling the MANUS. These interface features, and the new interface, were evaluated for their performance. The following results were obtained. A new method of switching between control modes proved to be a significant improvement. However, the introduction of a new control mode, called pilot control mode, increased the cognitive and physical load of the MANUS users. The users were content with the new interface and with the extra functionalities that were added in this interface, such as the collaborative controller, with which some degrees of freedom of the MANUS can be controlled automatically, and with an alternative centre of rotation of the gripper that allows for new movements of the gripper.

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“…Since the object detection with this type of systems is highly sensitive to small fluctuations of the laser beam, it may not be practical for rehabilitation applications. In [3], a rehabilitation robotic system was presented, where the object was selected using a pointer. However, since many handicapped individuals have poor and limited control of their hands, this object detection system may not be applicable or the best choice.…”

Section: Introductionmentioning

confidence: 99%

An Intelligent Assistive Robotic Manipulator

Farahmand¹,

Pourazad²,

Moussavi³

2005

2005 IEEE Engineering in Medicine and Biology 27th Annual Conference

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This paper presents the design of an automatic and intelligent robot arm for object grasping for people on wheelchair with mild to severe disabilities. The system is equipped with stereovision detection in order to distinguish different objects from the background. The robot arm has been designed with 6 degrees of action to grasp the detected object from the floor and bring it in front of the user. Two precalibrated digital cameras, facing downward, simultaneously take pictures of the surface where the object is located. Then by applying a new and robust 3D object detection method, the height, location and orientation of the object with respect to the robot's base point are found. The resulting rotation periods are transferred through a designated electronic driver board to the joints' motors via the PC parallel port. Overall, the system detects the object, moves the robot arm to the location of the object, grasps it, moves it to a predefined position in front of the user, releases the object and finally returns to its home position. The system is automatic and is operated by only one command.

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9 Enhancing the Usability of the MANUS Manipulator by Using Visual Servoing

Cited by 6 publications

References 0 publications

Collaborative Control of the Manus Manipulator

Collaborative Control of the Manus Manipulator

Evaluation of New User Interface Features for the MANUS Robot Arm

An Intelligent Assistive Robotic Manipulator

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