Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation
Identifieur interne : 001030 ( PascalFrancis/Checkpoint ); précédent : 001029; suivant : 001031Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation
Auteurs : Norali P. Pernalete [États-Unis] ; WENTAO YU [États-Unis] ; Rajiv V. Dubey [États-Unis] ; Wilfrido A. Moreno [États-Unis]Source :
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Abstract
This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.
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Pernalete</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Western Michigan University</s1><s2>Kalamazoo, Michigan</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName></affiliation></author><author><name sortKey="Wentao Yu" sort="Wentao Yu" uniqKey="Wentao Yu" last="Wentao Yu">WENTAO YU</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>University of South Florida</s1><s2>Tampa, Florida</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Floride</region></placeName><orgName type="university">Université de Floride du Sud</orgName></affiliation></author><author><name sortKey="Dubey, Rajiv V" sort="Dubey, Rajiv V" uniqKey="Dubey R" first="Rajiv V." last="Dubey">Rajiv V. Dubey</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>University of South Florida</s1><s2>Tampa, Florida</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Floride</region></placeName><orgName type="university">Université de Floride du Sud</orgName></affiliation></author><author><name sortKey="Moreno, Wilfrido A" sort="Moreno, Wilfrido A" uniqKey="Moreno W" first="Wilfrido A." last="Moreno">Wilfrido A. Moreno</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>University of South Florida</s1><s2>Tampa, Florida</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Floride</region></placeName><orgName type="university">Université de Floride du Sud</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Complex variable method</term><term>Execution time</term><term>Human</term><term>Manipulation</term><term>Manipulator</term><term>Physical handicap</term><term>Reliability</term><term>Remote operation</term><term>Robotics</term><term>Tactile sensitivity</term><term>Telerobotics</term><term>User assistance</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Fiabilité</term><term>Manipulateur</term><term>Robotique</term><term>Temps exécution</term><term>Manipulation</term><term>Téléopération</term><term>Télérobotique</term><term>Homme</term><term>Méthode variable complexe</term><term>Sensibilité tactile</term><term>Assistance utilisateur</term><term>Handicap physique</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Homme</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.</div></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Augmentation of manipulation capabilities of persons with disabilities using scaled teleoperation</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002</s1></fA09><fA11 i1="01" i2="1"><s1>PERNALETE (Norali P.)</s1></fA11><fA11 i1="02" i2="1"><s1>WENTAO YU</s1></fA11><fA11 i1="03" i2="1"><s1>DUBEY (Rajiv V.)</s1></fA11><fA11 i1="04" i2="1"><s1>MORENO (Wilfrido A.)</s1></fA11><fA14 i1="01"><s1>Western Michigan University</s1><s2>Kalamazoo, Michigan</s2><s3>USA</s3><sZ>1 aut.</sZ></fA14><fA14 i1="02"><s1>University of South Florida</s1><s2>Tampa, Florida</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and Automation Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="02" i2="1"><s1>IEEE Industrial Elelctronics Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="03" i2="1"><s1>Robotics Society of Japan</s1><s3>JPN</s3><s9>patr.</s9></fA18><fA18 i1="04" i2="1"><s1>Society of Instruments and Control Engineers</s1><s3>INC</s3><s9>patr.</s9></fA18><fA18 i1="05" i2="1"><s1>INRIA Rhône-Alpes</s1><s2>Grenoble</s2><s3>FRA</s3><s9>patr.</s9></fA18><fA18 i1="06" i2="1"><s1>EPFL</s1><s2>Lausanne</s2><s3>CHE</s3><s9>patr.</s9></fA18><fA20><s1>1517-1522</s1></fA20><fA21><s1>2002</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-7398-7</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IROS 2002 : international conference on intelligent robots and systems</s1><s3>Lausanne CHE</s3><s4>2002-09-30</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 37951</s2><s5>354000117764172470</s5></fA43><fA44><s0>0000</s0><s1>© 2004 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>5 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>04-0196993</s0></fA47><fA60><s1>C</s1></fA60><fA61><s0>A</s0></fA61><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>This paper describes several assistance approaches to use complex and variable Telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer. Some complex tasks in the slave manipulator can be implemented through simple and restricted movements on the master's side coming from a person with restricted dexterity. Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison is made between the implementation of the constraints on the Master and the Slave sides of the system. The system used consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator. 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Pernalete</name></region><name sortKey="Dubey, Rajiv V" sort="Dubey, Rajiv V" uniqKey="Dubey R" first="Rajiv V." last="Dubey">Rajiv V. Dubey</name><name sortKey="Moreno, Wilfrido A" sort="Moreno, Wilfrido A" uniqKey="Moreno W" first="Wilfrido A." last="Moreno">Wilfrido A. Moreno</name><name sortKey="Wentao Yu" sort="Wentao Yu" uniqKey="Wentao Yu" last="Wentao Yu">WENTAO YU</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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