A STUDY ON THE ENHANCEMENT OF MANIPULATION
PERFORMANCE OF WHEELCHAIR-MOUNTED
REHABILITATION SERVICE ROBOT
Jin-Woo Jung*, Won-Kyung Song*, Heyoung Lee*, Jong-Sung Kim**,
Zeungnam Bien*
*Dept. of Electrical Engineering, KAIST, **MIT Team/Multimedia Dept., ETRI
Abstract
A wheelchair-mounted rehabilitation service robot called KARES (KAist
Rehabilitation Engineering Service system) has been realized to
as-sist the disabled / the elderly. One of the most important factors
to be considered in the design of this system is to enhance
reliability so that the disabled / the elderly can use with feelings
of safety and confidence. For enhancing the reliability, it is
suggested that autonomous manipulation and manual manipulation be
integrated in a proper manner. The basic autonomous tasks for KARES
are grasping an object on the table, grasping an object on the floor,
and manipulating a switch on the wall. For manual manipulation of the
disabled / the elderly, a 3D input device called SPACEBALL 2003 is
used and an auxiliary device is designed for the disabled to
facilitate rotational input function. Using this auxiliary device and
SPACEBALL 2003, the disabled / the elderly are able to make a manual
adjustment during the autonomous task. Integration of autonomous and
manual operation proves to be robust and reliable. The performance of
the system is verified by experiment.
Full Paper
Last modified: Tue Feb 2 14:33:14 PST 1999