Human friendly interfaces of robotic manipulator control for handicapped persons

Soo Chul Lim, Kyoobin Lee, Dong Soo Kwon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

This paper presents a new human robot interface (HRI) for the spinal cord injured person and a control scheme of the robot manipulator for the developed interface. The system is mainly aimed at people with C3 and C4 injuries who cannot move below the shoulder. HRI consists of a laser pointer and a pressure sensor. The interface makes 3 DOF motion. The user controls the position of a red spot on the white board that is located on the robot wrist and the manipulator changes its position so that the red spot is always centered at the white board. By doing so, 2 DOF motion is controlled by the positioning of the laser pointer and one additional DOF motion is controlled by "sip and puff". Additionally, voice recognition has been added to the interface so that the user can change the mode of the robot control and switch on or off the robot and the developed interface. Using this interface and voice recognition, the disabled person can effectively control the switch the translation and rotation of the end effector position manually. Additionally, the robot maximum velocity is changed with fuzzy algorithm. Therefore, the user can control the maximum speed of the robot. The interface's usefulness is verified by clinical experiments with seven subjects.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages435-440
Number of pages6
ISBN (Electronic)0780377591
DOIs
StatePublished - 2003
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 20 Jul 200324 Jul 2003

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Conference

Conference2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Country/TerritoryJapan
CityKobe
Period20/07/0324/07/03

Keywords

  • Humans
  • Injuries
  • Manipulators
  • Motion control
  • Optical control
  • Robot control
  • Robot sensing systems
  • Speech recognition
  • Spinal cord
  • Switches

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