Autonomous function of wheelchair-mounted robotic manipulators to perform daily activities

Autonomous functions for wheelchair-mounted robotic manipulators (WMRMs) allow a user to focus more on the outcome from the task - for example, eating or drinking, instead of moving robot joints through user interfaces. In this paper, we introduce a novel personal assistive robotic system based on a...

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Bibliographic Details
Main Authors: Cheng-Shiu Chung, Hongwu Wang, Cooper, Rory A.
Format: Conference Proceeding
Language:English
Subjects:
Activities of Daily Living
Biomechanical Phenomena
Cameras
Disabled Persons - rehabilitation
Equipment Design
Grippers
Humans
manipulation
Mobile robots
object recognition
path planning
Planning
Reproducibility of Results
robotics
Robotics - instrumentation
Robotics - methods
Software
Trajectory
User-Computer Interface
wheelchair
Wheelchairs
Wheelchairs - utilization
Online Access:Request full text
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Summary:Autonomous functions for wheelchair-mounted robotic manipulators (WMRMs) allow a user to focus more on the outcome from the task - for example, eating or drinking, instead of moving robot joints through user interfaces. In this paper, we introduce a novel personal assistive robotic system based on a position-based visual servoing (PBVS) approach. The system was evaluated with a complete drinking task, which included recognizing the location of the drink, picking up the drink from a start location, conveying the drink to the proximity of the user's mouth without spilling, and placing the drink back on the table. For a drink located in front of the wheelchair, the success rate was nearly 100%. Overall, the total time of completing drinking task is within 40 seconds.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2013.6650378