2002
DOI: 10.1017/s0263574701003897
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The Weston wheelchair mounted assistive robot - the design story

Abstract: Robotic technology can be used in several ways to benefit people with disabilities. This paper describes the mounting of a robotic arm to a powered wheelchair to assist disabled users in daily activities. Although there are many potential benefits for the disabled user, there are also very strong requirements and compromises, which must be considered in integrating the robotic arm with the wheelchair. This paper focuses on how these integration issues have been addressed.

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Cited by 63 publications
(29 citation statements)
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“…Bath institute of medical engineering [15]. It was designed in order to maximize the manipulation span on the horizontal plane using a SCARA robot.…”
Section: An Assistive Robot Called Weston Has Been Developed By the (mentioning
confidence: 99%
See 1 more Smart Citation
“…Bath institute of medical engineering [15]. It was designed in order to maximize the manipulation span on the horizontal plane using a SCARA robot.…”
Section: An Assistive Robot Called Weston Has Been Developed By the (mentioning
confidence: 99%
“…The robot has five motors on its upper arm; a motor for vertical regulation and a motor for the gripper which is controlled by a joystick and a visual humanmachine interface. Due to its configuration, Weston has larger size than other wheelchair-mounted robots, but it has a larger workspace with capability of getting closer to tables and desks, thanks to its rear-side mounting position [15].…”
Section: An Assistive Robot Called Weston Has Been Developed By the (mentioning
confidence: 99%
“…This repulsive force is applied in par with the strain gauge inputs, and as a factor of the forward (x direction) input force. The new input force to the system in (3), F is given by the empirically determined equation seen in (5). The parameter P is derived from the closeness of the outrigger given by the DT value above.…”
Section: Navigation Assistancementioning
confidence: 99%
“…Many assistive robots have emerged in recent years such as smart wheelchairs [5], smart walkers [6], and telepresence robots [7]. These devices assist people in their daily living activities whether they are disabled or senior citizens, enhancing their quality of life.…”
Section: Introductionmentioning
confidence: 99%
“…The arm has been assembled in a number of different configurations, but mainly on a remote mobile base [3]. Another notable project is the research from Bath Institute of Medical Engineering with the introduction of the Wessex robot, mounted on an automated mobile base [18].…”
Section: Assistance Robots In Rehabilitationmentioning
confidence: 99%