Intuitive adaptive orientation control of assistive robots for people living with upper limb disabilities

Auteur(s): Vu, Dinh-SonCôté Allard, UlysseGosselin, ClémentRouthier, FrançoisGosselin, BenoitCampeau-Lecours, Alexandre
Résumé: Robotic assistive devices enhance the autonomy of individuals living with physical disabilities in their day-to-day life. Although the first priority for such devices is safety, they must also be intuitive and efficient from an engineering point of view in order to be adopted by a broad range of users. This is especially true for assistive robotic arms, as they are used for the complex control tasks of daily living. One challenge in the control of such assistive robots is the management of the end-effector orientation which is not always intuitive for the human operator, especially for neophytes. This paper presents a novel orientation control algorithm designed for robotic arms in the context of human-robot interaction. This work aims at making the control of the robot's orientation easier and more intuitive for the user, in particular, individuals living with upper limb disabilities. The performance and intuitiveness of the proposed orientation control algorithm is assessed through two experiments with 25 able-bodied subjects and shown to significantly improve on both aspects.
Type de document: Article dans une conférence
Date de publication: 15 août 2017
Date de la mise en libre accès: 13 novembre 2018
Version du document: AM
Lien permanent:
Ce document a été publié dans: IEEE International Conference on Rehabilitation Robotics, 795-800 (2017)
Autre version disponible: 10.1109/ICORR.2017.8009345
Collection :Autres articles publiés

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