An intelligent end-effector for a rehabilitation robot

被引：0

作者：

Gosine, R.G. ^{[1
]}

Harwin, W.S. ^{[1
]}

Furby, L.J. ^{[1
]}

Jackson, R.D. ^{[1
]}

机构：

[1] University Engineering Department, University of Cambridge, Cambridge CB2 1PZ, United Kingdom

来源：

Journal of Medical Engineering and Technology | 1989年 / 13卷 / 1-2期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Computer Programming Languages--Problem Orientation - Robots; Industrial--Intelligent; -; Sensors--Design;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

A UMI RTX robot, modified with limited end-effector sensors and a restricted but effective vision system, is currently used in a developmental education setting for severely physically disabled children. The low physical and cognitive abilities of the children involved in the project require a semi-autonomous robot with environmental sensing capability to operate in a task oriented mode. A variety of low-cost sensors including proximity, distance, force and slip sensors, have been investigated for integration in end-effectors for the RTX robot. The sensors employed on a modified end-effector are detailed, and experimental results are presented. A design for an end-effector with integrated sensors is discussed. The integration of the sensor information into a high-level, task-oriented programming language is detailed, and examples of high-level control sequences using sensor inputs are presented.

引用

页码：37 / 43