The design of a wheelchair mounted robot

Hagan, Karen; Hillman, M.; Hagan, Sean; Jepson, Jill

doi:10.1049/ic:19970635

Cited by 6 publications

(2 citation statements)

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“…This PUMA-250 robot was instrumented with a camera for remote sensing, a six-axis force sensor and a gripper with finger pad-mounted proximity sensors. A nice overview of different systems, such as the Wolfson-Robot and the Wessex-Robot is given by Hagen and Hillmann (Hagan, 1997). Up to now a number of scientists have been working on the same idea to develop a wheelchair mounted robot or a mobile robot system with arms to handle objects and assist elderly and handicapped persons, e.g.…”

Section: State Of the Artmentioning

confidence: 99%

Real Time Grasping of Freely Placed Cylindrical Objects

2008

Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service

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In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. This paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. The contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. The goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.

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Section: State Of the Artmentioning

confidence: 99%

Real Time Grasping of Freely Placed Cylindrical Objects

2008

Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service

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“…They can assist on the factory floor [5], assist the disabled [13], and assist the elderly [33]. There is even need for robots to assist each other and communally accomplish tasks [11].…”

Section: Introductionmentioning

confidence: 99%

Hexrotor UAV platform enabling dextrous interaction with structures — Preliminary work

Voyles¹,

Jiang²

2012

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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A force closure grasp is a term from dexterous manipulation that indicates a grasp that can resist any applied wrench, or force-torque. Force closure grasps are desirable because they can completely immobilize an object or impart an arbitrary wrench to an object. With fixed-base manipulators, determining the degree of force closure of a manipulation system is simplified to determining the degree of force closure of the gripper or end effector. In mobile manipulation, the manipulator base is not fixed to the ground so determining the set of wrenches that can be resisted is not strictly limited to the capabilities of the end effector. But due to the large differences in mass of the mobile base and end effector, it is generally safe to assume the degree of force closure is limited by the end effector and not by the ability of the mobile base to remain motionless. As aerial mobile manipulation has started to become an active area of research, the concept of force closure of the entire manipulation system needs to be considered. Conventional aerial platforms are not able to resist an arbitrary wrench so an end effector carried by such a vehicle will not be able to exhibit force closure. This is true because even current quad rotors lack both the number of degrees of freedom but also independence of the degrees of freedom due to the fact that the force vectors are all parallel. We have developed a hex-rotor system with six independent degrees of freedom providing force closure for a dexterous aerial vehicle for mobile manipulation tasks. The ability of the aerial mobile base to exert an arbitrary wrench coupled with a low degree of freedom manipulator will allow for an agile aerial mobile manipulator with true force closure.

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