Abstract
KARES (KAIST Rehabilitation Engineering System) is a rehabilitation robotic system with 6 degrees of freedom robot arm mounted on the powered wheelchair, in order to assist the disabled and the elderly for the independent livelihood. Human machine interaction is very important in this system. Specially, the direct control of the robot arm takes a high cognitive load on the user part while physically disabled persons may have difficulties operating joysticks or push buttons for delicate movements. Therefore, a certain degree of autonomy of the robotic system is needed. To perceive the environment, color vision and force/torque sensors are mounted on the end-effector of the robotic arm of KARES. Four basic tasks are tested; picking up a cup on the table, picking up a pen on the floor, moving the object to the user's face, and operating a switch on a wall. These tasks are performed autonomously in the semi-structured environment.
| Original language | English |
|---|---|
| Pages (from-to) | 2682-2685 |
| Number of pages | 4 |
| Journal | Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings |
| Volume | 5 |
| State | Published - 1998 |
| Event | Proceedings of the 1998 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Part 4 (of 6) - Hong Kong, China Duration: 29 Oct 1998 → 1 Nov 1998 |