An intelligent end-effector for a rehabilitation robot

被引：0
|
作者：
Gosine, R.G. [1 ]
Harwin, W.S. [1 ]
Furby, L.J. [1 ]
Jackson, R.D. [1 ]
机构：
[1] University Engineering Department, University of Cambridge, Cambridge CB2 1PZ, United Kingdom
来源：
Journal of Medical Engineering and Technology | 1989年 / 13卷 / 1-2期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Computer Programming Languages--Problem Orientation - Robots; Industrial--Intelligent; -; Sensors--Design;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A UMI RTX robot, modified with limited end-effector sensors and a restricted but effective vision system, is currently used in a developmental education setting for severely physically disabled children. The low physical and cognitive abilities of the children involved in the project require a semi-autonomous robot with environmental sensing capability to operate in a task oriented mode. A variety of low-cost sensors including proximity, distance, force and slip sensors, have been investigated for integration in end-effectors for the RTX robot. The sensors employed on a modified end-effector are detailed, and experimental results are presented. A design for an end-effector with integrated sensors is discussed. The integration of the sensor information into a high-level, task-oriented programming language is detailed, and examples of high-level control sequences using sensor inputs are presented.
引用
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页码：37 / 43
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