The Spartacus telethesis: manipulator control studies.
The Spartacus telethesis: manipulator control studies.
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斯巴达克斯遥感：机械手控制研究。
DOI：
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发表时间：
1979
期刊：
影响因子：
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通讯作者：
Joel Yclon
中科院分区：
文献类型：
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作者：
Jacques Guittet;Hok Him;Kwee;Nicole Quetin;Joel Yclon
本文介绍了一种方法和实验系统，允许严重残疾的操作员，如四肢瘫痪，控制遥控器。这些发展形成了斯巴达克斯“远感”设计的第一阶段。这是专门为四肢瘫痪者开发的机械手系统。机械手控制实验，讨论了四个四肢瘫痪谁使用了显着的一段时间的实验系统。本系统是一个实验室模拟遥视，由一个小型计算机控制的工业机械手。一个灵活的半顺序控制和各种传感器允许系统适应个人用户。到目前为止，所进行的实验已经显示了四个四肢瘫痪者有效地控制遥控操作器的可行性，使用头部运动和一些剩余的手臂运动在各种模式的端点控制。特别是，位置控制和“引导”类型的速度控制，两者都增加了一些力的限制，给出了有希望的结果。
This paper describes a method and an experimental system permitting a severely handicapped operator, such as a quadriplegic, to control a telemanipulator. These developments form the first phase in the design of the Spartacus "telethesis". This is a manipulator system specifically developed for a quadriplegic person. Manipulator control experiments which are discussed concern four quadriplegics who have used the experimental system for significant periods of time. The present system is a laboratory simulation of a telethesis, consisting of an industrial manipulator controlled by a mini-computer. A flexible semi-sequential control and a variety of transducers permit the system to be adapted to the individual user. Thus far, the experiments performed have shown the feasibility for the four quadriplegics to effectively control a telemanipulator, using head movements and some remaining arm movements in various modes of end-point control. In particular, a position control and a "piloting" type of velocity control, both with the addition of some force limitation, have given promising results.