Chen S, Rahman T, Harwin W
Center for Applied Science and Engineering, University of Delaware/duPont Hospital for Children, Wilmington 19899, USA.
IEEE Trans Rehabil Eng. 1998 Dec;6(4):406-14. doi: 10.1109/86.736155.
Researchers in the rehabilitation engineering community have been designing and developing a variety of passive/active devices to help persons with limited upper extremity function to perform essential daily manipulations. Devices range from low-end tools such as head/mouth sticks to sophisticated robots using vision and speech input. While almost all of the high-end equipment developed to date relies on visual feedback alone to guide the user providing no tactile or proprioceptive cues, the "low-tech" head/mouth sticks deliver better "feel," because of the inherent force feedback through physical contact with the user's body. However, the disadvantage of a conventional head/mouth stick is that it can only function in a limited workspace and the performance is limited by the user's strength. It therefore seems reasonable to attempt to develop a system that exploits the advantages of the two approaches: the power and flexibility of robotic systems with the sensory feedback of a headstick. The system presented in this paper reflects the design philosophy stated above. This system contains a pair of master-slave robots with the master being operated by the user's head and the slave acting as a telestick. Described in this paper are the design, control strategies, implementation and performance evaluation of the head-controlled force-reflecting telestick system.
康复工程领域的研究人员一直在设计和开发各种被动/主动设备，以帮助上肢功能受限的人进行基本的日常操作。这些设备种类繁多，从诸如头部/口腔操纵杆等低端工具到使用视觉和语音输入的复杂机器人。虽然迄今为止开发的几乎所有高端设备都仅依靠视觉反馈来指导用户，而不提供触觉或本体感受线索，但“低技术”的头部/口腔操纵杆却能提供更好的“触感”，这是因为通过与用户身体的物理接触会产生固有的力反馈。然而，传统头部/口腔操纵杆的缺点是它只能在有限的工作空间内发挥作用，并且其性能受到用户力量的限制。因此，尝试开发一种融合两种方法优点的系统似乎是合理的：兼具机器人系统的动力和灵活性以及头部操纵杆的感官反馈。本文介绍的系统体现了上述设计理念。该系统包含一对主从机器人，主机器人由用户头部操作，从机器人充当延伸操纵杆。本文介绍了头部控制的力反馈延伸操纵杆系统的设计、控制策略、实现和性能评估。
