Journal ArticleDOI
Development of a Robotic Arm for Handicapped People: A Task-Oriented Design Approach
Pyung Hun Chang,Hyung-Soon Park +1 more
TLDR
In this paper, a task-oriented design procedure is proposed by which a robotic arm can be designed to achieve predefined tasks for care-providing robotic arm for physically disabled people.Abstract:
In this paper, a task-oriented design (TOD) procedure is proposed by which a robotic arm can be designed to achieve predefined tasks. To define the target tasks, we have spent about six months, observing every-day life of disabled people, and have determined 12 important tasks. By using TOD procedure in a coherent and consistent manner, we have developed a working prototype of a care-providing robotic arm for physically disabled people. Through experiments, we confirmed that the developed robotic arm is indeed able to carry out the predefined tasks.read more
Citations
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Book
Foundations of robotics : analysis and control
TL;DR: Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators, and explains the physical meaning of the concepts and equations used, and provides the necessary background in kinetics, linear algebra, and Control theory.
Journal ArticleDOI
Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units
Zeungnam Bien,Myung Jin Chung,Pyung-Hun Chang,Dong-Soo Kwon,Dae-Jin Kim,Jeong-Su Han,Jae-Hean Kim,Do-Hyung Kim,Hyung-Soon Park,Sang Hoon Kang,Kyoobin Lee,Soo-Chul Lim +11 more
TL;DR: Some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled are reported.
Journal ArticleDOI
Stability Guaranteed Time-Delay Control of Manipulators Using Nonlinear Damping and Terminal Sliding Mode
TL;DR: This paper proposes a remedy for the TDE error that involves a combination of a nonlinear damping component and a novel fast-convergent error dynamics that substantially enhance the control accuracy.
Proceedings ArticleDOI
Development of a wheelchair-based rehabilitation robotic system (KARES II) with various human-robot interaction interfaces for the disabled
TL;DR: Experimental results show that all subsystems can perform the defined tasks through the robotic arm in an integrated way.
Proceedings ArticleDOI
Design, simulation and testing of a new modular wheelchair mounted robotic arm to perform activities of daily living
TL;DR: A wheelchair-mounted robotic arm (WMRA-II) was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities as discussed by the authors.
References
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Book
Numerical heat transfer and fluid flow
TL;DR: In this article, the authors focus on heat and mass transfer, fluid flow, chemical reaction, and other related processes that occur in engineering equipment, the natural environment, and living organisms.
Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
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Engineering Optimization : Theory and Practice
TL;DR: This chapter discusses Optimization Techniques, which are used in Linear Programming I and II, and Nonlinear Programming II, which is concerned with One-Dimensional Minimization.
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Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Journal ArticleDOI
A Time Delay Controller for Systems With Unknown Dynamics
Kamal Youcef-Toumi,Osamu Ito +1 more
TL;DR: In this paper, a new control method, Time Delay Control (TDC), is proposed for linear time-invariant and single-input-single-output (SISO) systems under the assumption of accessibility to all the state variables and estimates of their delayed derivatives.