A STUDY ON THE ENHANCEMENT OF MANIPULATION PERFORMANCE OF WHEELCHAIR-MOUNTED REHABILITATION SERVICE ROBOT

Jin-Woo Jung*, Won-Kyung Song*, Heyoung Lee*, Jong-Sung Kim**, Zeungnam Bien*
*Dept. of Electrical Engineering, KAIST, **MIT Team/Multimedia Dept., ETRI

Abstract

A wheelchair-mounted rehabilitation service robot called KARES (KAist Rehabilitation Engineering Service system) has been realized to as-sist the disabled / the elderly. One of the most important factors to be considered in the design of this system is to enhance reliability so that the disabled / the elderly can use with feelings of safety and confidence. For enhancing the reliability, it is suggested that autonomous manipulation and manual manipulation be integrated in a proper manner. The basic autonomous tasks for KARES are grasping an object on the table, grasping an object on the floor, and manipulating a switch on the wall. For manual manipulation of the disabled / the elderly, a 3D input device called SPACEBALL 2003 is used and an auxiliary device is designed for the disabled to facilitate rotational input function. Using this auxiliary device and SPACEBALL 2003, the disabled / the elderly are able to make a manual adjustment during the autonomous task. Integration of autonomous and manual operation proves to be robust and reliable. The performance of the system is verified by experiment.
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Last modified: Tue Feb 2 14:33:14 PST 1999