Title

System Design and Implementation of UCF-MANUS-An Intelligent Assistive Robotic Manipulator

Authors

Authors

D. J. Kim; Z. Wang; N. Paperno;A. Behal

Comments

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Abbreviated Journal Title

IEEE-ASME Trans. Mechatron.

Keywords

Activities of daily living; assistive robotics; system integration; HANDICAPPED PEOPLE; PROSTHESIS CONTROL; ARM; CLASSIFICATION; DEVICES; SENSOR; KARES; SCALE; Automation & Control Systems; Engineering, Manufacturing; Engineering, ; Electrical & Electronic; Engineering, Mechanical

Abstract

This paper reports on the system design for integrating the various processes needed for end-to-end implementation of a smart assistive robotic manipulator. Specifically, progress is reported in the empowerment of the UCF-MANUS system with a suite of sensory, computational, and multimodal interface capabilities so that its autonomy can be made accessible to users with a wide range of disabilities. Laboratory experiments are reported to demonstrate the ability of the system prototype to successfully and efficiently complete object retrieval tasks. Benchmarking of the impact of the various interface modalities on user performance is performed via empirical studies with healthy subjects operating the robot in a simulated instrumental activities of daily living tasks setup. It is seen through a analysis of the collected quantitative data that the prototype is interface neutral and shows robustness to variations in the tasks and the environment. It is also seen that the prototype autonomous system is quantitatively superior to Cartesian control for all tested tasks under a "number of commands" metric, however, under a "time to task completion" metric, the system is seen to be superior for "hard" tasks but not for "easy" tasks.

Journal Title

Ieee-Asme Transactions on Mechatronics

Volume

19

Issue/Number

1

Publication Date

1-1-2014

Document Type

Article

Language

English

First Page

225

Last Page

237

WOS Identifier

WOS:000330233600021

ISSN

1083-4435

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