MANUS—a wheelchair-mounted rehabilitation robot

摘要

Rehabilitation robots are assistive devices designed for use by people with severe disability in order to gain independence in tasks of daily living. MANUS is a wheelchair-mounted general-purpose manipulator now in use with over 100 people in their homes in the Netherlands, in France and in other countries. MANUS has six main degrees of freedom, excluding the gripper. To keep the arm slim, the motors are placed in the main base. The resulting low mass of the arm ensures a reduced impulse in case of collision. A complex system of toothed belts, hollow shafts and geared wheels drives the end-effector. MANUS is equipped with a two-fingered gripper. The fingers have passive canting mechanisms which ensure a three-point grasping action for most objects. A modular control system is used for steering the manipulator to its desired position. For this, a simple but effective user interface has been developed which is configurable by the end-user as well as by the therapist.