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Universal Access in the Information Society
Published in: Universal Access in the Information Society 2/2005

01-12-2005 | Long paper

Collaborative Control of the Manus Manipulator

Authors: B. J. F. Driessen, T. K. Ten. Kate, F. Liefhebber, A. H. G. Versluis, J. A. van. Woerden

Published in: Universal Access in the Information Society | Issue 2/2005

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Abstract

The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons. It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper), the control of which can be improved, especially for users with very limited rest functionality. The approach presented in this paper combines autonomous vision based control with direct user control resulting in a collaborative controller. Results of preliminary user trials show that this technique allows severely disabled persons to manipulate objects more easily.
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Footnotes
1
If the complete Jacobian is not known, e.g., because the 3D position is not known entirely, the pseudo-inverse jacobian is used
 
2
For instance, daylight is very different in color from the light of a bulb
 
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Metadata
Title
Collaborative Control of the Manus Manipulator
Authors
B. J. F. Driessen
T. K. Ten. Kate
F. Liefhebber
A. H. G. Versluis
J. A. van. Woerden
Publication date
01-12-2005
Publisher
Springer-Verlag
Published in
Universal Access in the Information Society / Issue 2/2005
Print ISSN: 1615-5289
Electronic ISSN: 1615-5297
DOI
https://doi.org/10.1007/s10209-005-0121-6

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