Laser-assisted telerobotic control for enhancing manipulation capabilities of persons with disabilities
Laser-assisted telerobotic control for enhancing manipulation capabilities of persons with disabilities
复制标题
激光辅助远程机器人控制可增强残疾人的操控能力
DOI：
10.1109/iros.2010.5653184
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
R. Dubey
中科院分区：
文献类型：
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作者：
Karan Khokar;K. Reed;Redwan Alqasemi;R. Dubey
在本文中，我们演示了使用范围信息从安装在远程机器人操纵器的末端执行器的激光传感器，以协助有限的上身力量的人进行日常生活活动在非结构化环境中。激光测距数据用于确定目标，识别目标，障碍物和通过点，以实现轨迹的自主执行。人类操作员主要参与更高级别的决策制定;人类用户执行最小的远程操作，以使用激光指示器识别工作空间中的关键点。在执行拾取和放置任务时，对10名健康人类受试者的测试表明，基于激光的辅助不仅使任务执行速度平均提高了26.9%，同时使体力平均减少了85.4%，而且还使用户在认知上更容易执行任务。
In this paper, we demonstrate the use of range information from a laser sensor mounted on the end-effector of a remote robot manipulator to assist persons with limited upper body strength carry out Activities of Daily Living in unstructured environments. Laser range data is used to determine goals, identify targets, obstacles, and via points to enable autonomous execution of trajectories. The human operator is primarily involved in higher level decision making; the human user performs minimal teleoperation to identify critical points in the workspace with the laser pointer. Tests on ten healthy human subjects in executing a pick-and-place task showed that laser-based assistance not only increased the speed of task execution by an average of 26.9%while decreasing the physical effort by an average of 85.4%, but also made the task cognitively easier for the user to execute.