BROWSE

Related Researcher

Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

ITEM VIEW & DOWNLOAD

Integration of a rehabilitation robotic system (KARES II) with human-friendly man-machine interaction units

Cited 27 times inthomson ciCited 32 times inthomson ci
Title
Integration of a rehabilitation robotic system (KARES II) with human-friendly man-machine interaction units
Author
Bien, ZeungnamChung, MYUNG-JINChang, PYUNG-HUNKwon, DONG-SOOKim, DAE-JINHan, JEONG-SUKim, JAE-HEANKim, DO-HYUNGPark, HYUNG-SOONKang, Sang HoonLee, KYOOBINLim, SOO-CHUL
Keywords
Bio-signal (EMG) based control; Cable-driven mechanism; Eye-mouse; Head/shoulder interface; Human-robot interaction; Intelligent visual servoing; Rehabilitation robot; Service robot; Task specific; Task-oriented design; User trials; Wheelchair-based robotic arm
Issue Date
200403
Publisher
SPRINGER
Citation
AUTONOMOUS ROBOTS, v.16, no.2, pp.165 - 191
Abstract
In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users (that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users (with spinal cord injury).
URI
Go to Link
DOI
http://dx.doi.org/10.1023/B:AURO.0000016864.12513.77
ISSN
0929-5593
Appears in Collections:
ECE_Journal Papers

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qr_code

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU