Design and Implementation of a Control Architecture for Rehabilitation Robotic Systems

Abstract

A ubiquitous robotic space (URS) refers to a special kind of environment in which robots gain enhanced perception, recognition, decision, and execution capabilities through distributed sensing and computing, thus responding intelligently to the needs of humans and current context of the space. The URS also aims to build a smart environment by developing a generic framework in which a plurality of technologies including robotics, network and communications can be integrated synergistically. The URS comprises three spaces: physical, semantic, and virtual space (Wonpil