PREPROGRAMED GESTURES FOR ROBOTIC MANIPULATORS: AN ALTERNATIVE TO SPEED UP TASK EXECUTION USING MANUS.
N. Didi1, M.Mokhtari1,2, A. Roby-Brami1
1INSERM-CREARE U483, UniversitÚ Pierre & Marie Curie, Paris, France.
2Institut Nationale des tÚlÚcomunications, Every, France.
In the rehabilitation robotic context, we are convinced that robotic assistive devices for severely disabled persons may compensate their impairments in grasping. However the use of telemanipulated robotic arms requires an excellent dexterity and cognitive efforts not often available among the concerned users population. Preprogrammed gestures and a control method that offers shared control between the human and the machine may improve the execution of complex tasks. In this paper we describe a new Assistive Control System (ACS) for the Manus robotic arm. This system supports several input devices and offers new features, such as a gesture library and new control modes. Results of the evaluations of this ACS are also presented. The aim of our approach is to make the robotic arm Manus easily controlled and accessible to a larger population of handicapped users.
Last modified: Mon Feb 1 17:41:54 PST 1999