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| Titel: |
Rehabilitation Robots FRIEND-I and FRIEND-II with the dexterous lightweight manipulator |
| Auteur: |
Oleg Ivlev Christian Martens Axel Graeser |
| Verschenen in: |
Technology & disability |
| Paginering: | Jaargang 17 (2005) nr. 2 pagina's 111-123 |
| Jaar: |
2005-07-27 |
| Inhoud: |
The rehabilitation robotic systems FRIEND-I/-II belong to the category 'intelligent' wheelchair mounted manipulators. The systems are being developed at the Institute of Automation (IAT), University of Bremen, since 1997. They are used as a personal assistant to support disabled persons with upper-limb impairments in daily life situations as well as in the working environment. This paper gives an user oriented overview of the facilities of the FRIEND-I system as well as a description of the innovations of the currently developed FRIEND-II system. It will be shown that the concept of semi-autonomy enables the development of rehabilitation robotic systems that process tasks robustly on a relatively high level of abstraction. Additionally, the paper underlines the necessity to improve the manipulative flexibility of rehabilitation robots and describes the new control concept - Kinematic Configuration Control - of FRIEND-II's dexterous robot arm having fluidic 5-finger hand and humanlike 7-joints kinematics. |
| Uitgever: |
IOS Press |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
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