The development of handy 1. A robotic system to assist the severely disabled

Topping, Mike; Smith, J.

doi:10.3233/tad-1999-10203

Cited by 62 publications

(28 citation statements)

References 1 publication

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“…For instance, a rehabilitation robot called Handy 1 [4] (Fig. 1) used a scanning system with seven lights and a user controlled switch to help people choosing the dishes of food that they want to eat.…”

Section: Related Workmentioning

confidence: 99%

“…This feature had greatly minimized the unnecessary effort for user to trigger related robot actions, and the emotion evaluation could give the feedback to the robot whether it acts properly or not. Handy 1 [4] and Takahashi's robot [8] are both eating assistant robotic systems fixed on a table, and only working in certain known environments. There are different types of assistive robotic systems that have been presented in [9].…”

Section: Related Workmentioning

confidence: 99%

“…Rehabilitation and assistive robotic systems have been developed to assist elders [1] [2] and especially the disabled ones [3] to improve their quality of life (QOF). Handy 1 Automated Eating Aid [4] is designed to enable people with severe disabilities, such as those quadriplegic individuals, for regaining independence in important daily living activities, such as eating, drinking, and washing, etc. Care-O-bot II is another example of the assistive robotic system [5] to help those elderly and handicapped people by providing a touch screen to control the robot.…”

mentioning

confidence: 99%

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An egocentric vision based assistive co-robot

Zhang

Zhuang

Wang

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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We present the prototype of an egocentric vision based assistive co-robot system. In this co-robot system, the user is wearing a pair of glasses with a forward looking camera, and is actively engaged in the control loop of the robot in navigational tasks. The egocentric vision glasses serve for two purposes. First, it serves as a source of visual input to request the robot to find a certain object in the environment. Second, the motion patterns computed from the egocentric video associated with a specific set of head movements are exploited to guide the robot to find the object. These are especially helpful for quadriplegic individuals who do not have needed hand functionality for interaction and control with other modalities (e.g., joystick). In our co-robot system, when the robot does not fulfill the object finding task in a pre-specified time window, it would actively solicit user controls for guidance. Then the users can use the egocentric vision based gesture interface to orient the robot towards the direction of the object. After that the robot will automatically navigate towards the object until it finds it. Our experiments validated the efficacy of the closed-loop design to engage the human in the loop.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

mentioning

confidence: 99%

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An egocentric vision based assistive co-robot

Zhang

Zhuang

Wang

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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“…Researchers have developed a variety of assistive robotic arms in order to achieve similar functionality as the human arm. Other than the well-known commercially successful assistive arms like Handy 1 [4] and MANUS [1], there are also numerous assistive robotic arms that are still under research and development stages. Notable examples include the MATS robotic arm [17], the ARMAR anthropomorphic arm [18,19], the Stanford Arm with a 'Distributed Elastically Coupled Macro Mini Parallel' actuation scheme [20], the magneto-rheological (MR) Safe Arm [21], the 'Safety Serve Manipulator' (SSM) system [22], the 7R anthropomorphic arm driven by pneumatic artificial muscles [23], the 7-DOF tendonactuated arm [24] and the Barrett arm [25].…”

Section: Introductionmentioning

confidence: 99%

“…Hence, significant research has been conducted in the area of assistive robotic systems such as wheelchair-mounted manipulators [1][2][3], desktop manipulators [4,5], powered prosthesis [6], powered upper/lower-limb orthosis [7][8][9][10][11], transfer aid systems [12], therapeutic robots [13,14], and monitoring or companion robots [15,16].…”

Section: Introductionmentioning

confidence: 99%

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Yang

Mustafa

Yeo

et al. 2010

Front. Mech. Eng. China

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In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of AE2.5mm.

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Self‐feeding assistive 7‐DOF robotic arm simulator using solving method of inverse kinematics

Shimabukuro

Gushi

Matayoshi

et al. 2021

Electrical Engineering Japan

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In order to help people with disabilities of the upper extremities drink and eat, a simulator for self‐feeding assistive robotic arm using solving method of inverse kinematics has been developed in this paper. Using inverse kinematics equations of 7 degrees of freedom (DOF) with an arm angle parameter, the robotic arm model was implemented in the simulator and its controller with mouse device was also designed. The arm angle parameter defined the angle between the arm plane and a reference plane was used to resolve the robotic arm redundancy. Three able‐bodied persons participated in simulation experiments. They manipulated the robotic arm model in a virtual space using mouse device. It was found from the simulation results they successfully performed the drinking and eating tasks in our simulator.

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The development of handy 1. A robotic system to assist the severely disabled

Cited by 62 publications

References 1 publication

An egocentric vision based assistive co-robot

An egocentric vision based assistive co-robot

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Self‐feeding assistive 7‐DOF robotic arm simulator using solving method of inverse kinematics

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