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Proceedings Paper

Bilateral control in teleoperation of a rehabilitation robot
Author(s): Tariq Rahman; William S. Harwin
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Paper Abstract

One applications of teleoperation principles is of a manipulator that might be used to augment function in a disabled person. An individual with a paralyzing injury may have complete loss of motor and sensory function in his or her arms, which limits his or her ability to interact with the environment and perform simple tasks such as feeding or turning pages. One way of enhancing functionality is to employ a telemanipulator that might take the place of a care giver, thus providing the person with increased independence. This paper describes how a high level spinal cord injured individual would use head movement to control a robot. It is felt that the key to successful manipulation is in attaining a sense of force and position proprioception. This natural proprioception exists in cable operated prosthetic arms and simple tools such as mouthsticks or laser beam pointers where the user is physically linked to the device. This sense of proprioception is being emulated using a head controlled master-slave arrangement. The goal is for the disabled individual to operate a manipulator and utilize proprioceptive as well as visual feedback. This would lessen the mental burden on the user and ultimately make the device more acceptable.

Paper Details

Date Published: 26 March 1993
PDF: 8 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142123
Show Author Affiliations
Tariq Rahman, Univ. of Delaware (United States)
William S. Harwin, Univ. of Delaware (United States)

Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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