Guittet J, Kwee H H, Quetin N, Yclon J
Bull Prosthet Res. 1979 Fall;16(2):69-105.
This paper describes a method and an experimental system permitting a severely handicapped operator, such as a quadriplegic, to control a telemanipulator. These developments form the first phase in the design of the Spartacus "telethesis". This is a manipulator system specifically developed for a quadriplegic person. Manipulator control experiments which are discussed concern four quadriplegics who have used the experimental system for significant periods of time. The present system is a laboratory simulation of a telethesis, consisting of an industrial manipulator controlled by a mini-computer. A flexible semi-sequential control and a variety of transducers permit the system to be adapted to the individual user. Thus far, the experiments performed have shown the feasibility for the four quadriplegics to effectively control a telemanipulator, using head movements and some remaining arm movements in various modes of end-point control. In particular, a position control and a "piloting" type of velocity control, both with the addition of some force limitation, have given promising results.
本文介绍了一种方法和一个实验系统，该系统能让严重残疾的操作者，比如四肢瘫痪者，控制一台遥控操作器。这些进展构成了斯巴达克斯“远程论文”设计的第一阶段。这是一个专门为四肢瘫痪者开发的操作器系统。所讨论的操作器控制实验涉及四名长期使用该实验系统的四肢瘫痪者。目前的系统是远程论文的实验室模拟，由一台小型计算机控制的工业操作器组成。灵活的半顺序控制和各种传感器使系统能够适应个体用户。到目前为止，所进行的实验表明，这四名四肢瘫痪者在各种端点控制模式下，利用头部动作和一些剩余的手臂动作有效控制遥控操作器是可行的。特别是，位置控制和“领航”式速度控制，再加上一些力的限制，都取得了很有前景的结果。
