Full Content is available to subscribers

Subscribe/Learn More  >

Development of a Telerobotic System to Assist Persons With Disabilities

[+] Author Affiliations
N. Pernalete

Western Michigan University

W. Yu, B. Fritz, R. Dubey

University of South Florida, Tampa, FL

Paper No. IMECE2002-32668, pp. 803-810; 8 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


This paper describes the development of intelligent mapping from a haptic user interface to a remote manipulator to assist individuals with disabilities performing manipulation tasks. This mapping, referred to an assistance function, is determined on the basis of environmental model or sensory data to guide the motion of a telerobotic manipulator while performing a given task. Human input is enhanced rather than superseded by the computer. Three manual dexterity assessment tests commonly used in occupational therapy field were chosen to implement several forms of assistance functions designed to augment the human performance. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK Software. One of the tests was chosen to be implemented in a real telerobotic system consisting of the haptic device as a Master and the Robotics Research Corporation manipulator (RRC K-2107) with a vision system and laser range data as a Slave. The results demonstrated that the forms of assistance provided reduced the execution times and increased the performance of the chosen tasks. In addition, these results suggest that the introduction of the haptic rendering capabilities, including the force feedback, offers special benefit to motion-impaired users by augmenting their performance on job-related tasks.

Copyright © 2002 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In