3D joystick for robotic arm control by individuals with high level spinal cord injuries.
3D joystick for robotic arm control by individuals with high level spinal cord injuries.
复制标题
3D 操纵杆，供患有严重脊髓损伤的人控制机械臂。
DOI：
10.1109/icorr.2013.6650432
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Duerstock,BradleyS
中科院分区：
文献类型：
--
作者：
Jiang,Hairong;Wachs,JuanP;Pendergast,Martin;Duerstock,BradleyS
开发了一种创新的3D操纵杆，使脊髓损伤（SCI）导致的四肢瘫痪患者能够更独立，更有效地操作机器人手臂作为辅助设备。3D操纵杆进行了比较，两种不同的手动输入方式，键盘控制和传统的操纵杆，在执行实验机器人手臂的任务，没有残疾的受试者和上肢行动障碍。费茨定律的目标和实际浇注测试进行了比较的性能和准确性的建议的三维操纵杆。费茨定律的测量表明，3D操纵杆具有最佳的性能指数（IP），尽管它需要与标准机械臂操纵杆相同的操作和错误次数。浇注任务表明，3D操纵杆显著缩短了任务完成时间，并且比键盘控制更准确。3D操纵杆也显示出与其他模式相比学习曲线降低。
An innovative 3D joystick was developed to enable quadriplegics due to spinal cord injuries (SCIs) to more independently and efficiently operate a robotic arm as an assistive device. The 3D joystick was compared to two different manual input modalities, a keyboard control and a traditional joystick, in performing experimental robotic arm tasks by both subjects without disabilities and those with upper extremity mobility impairments. Fitts's Law targeting and practical pouring tests were conducted to compare the performance and accuracy of the proposed 3D joystick. The Fitts's law measurements showed that the 3D joystick had the best index of performance (IP), though it required an equivalent number of operations and errors as the standard robotic arm joystick. The pouring task demonstrated that the 3D joystick took significantly less task completion time and was more accurate than keyboard control. The 3D joystick also showed a decreased learning curve to the other modalities.