Human-Friendly Interfaces of a Robot Manipulator Control System for Handicapped Persons

摘要

This paper presents a new Human Robot Interface (HH) for !he spinal cord injured person and a control scheme of !he robot manipulator for !he developed inrerface. The sys!em is mainly aimed at people with C3 and C4 injuries who cannot move below !he shoulder, HRl consisis of a laserpoinier and apressure sensor. The interface makes a 3 DOF motion. The user controls the position of a red spot on the white board that is locared on the robo! wrist and !he manipularor changes i!s position so tha! !he red spo! is always cen!ered a! !he whi!e board. By doing so, 2 DOF motion is controlled by the posirioning of !he laser poinler and one additional DOF motion is controlled by “sip andpus” Aditionally, voice recognition has been added to !he in!erface so !ha! !he user can change the mode of robot control and tum on and off !he robot and the developed Merface. Using this inreflace and voice recognition, !he disabled person can effecctiveb control !he translation and rotation of the end effecctor position manually. Additionally, !he robot maximum velocity is changed wiih !he fuzzy algorithm. Therefire, user can control !he maximum speed of the robo!. The interface’s usefulness is veriied by clinical experimenfs with seven subjects.