Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units

Zeungnam Bien, Myung Jin Chung, Pyung Hun Chang, Dong Soo Kwon, Dae Jin Kim, Jeong Su Han, Jae Hean Kim, Do Hyung Kim, Hyung Soon Park, Sang Hoon Kang, Kyoobin Lee, Soo Chul Lim

Research output: Contribution to journalArticlepeer-review

83 Scopus citations

Abstract

In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users (that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users (with spinal cord injury).

Original languageEnglish
Pages (from-to)165-191
Number of pages27
JournalAutonomous Robots
Volume16
Issue number2
DOIs
StatePublished - Mar 2004

Keywords

  • Bio-signal (EMG) based control
  • Cable-driven mechanism
  • Eye-mouse
  • Head/shoulder interface
  • Human-robot interaction
  • Intelligent visual servoing
  • Rehabilitation robot
  • Service robot
  • Task specific
  • Task-oriented design
  • User trials
  • Wheelchair-based robotic arm

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