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In telemanipulation systems, assistance through variable position/velocity mapping or virtual fixture can improve manipulation capability and dexterity [3, 5, 6, 7, 8]. Conventionally, such assistance is based on the sensory data of the environment and without knowing user’s motion intention. In this paper, user’s motion intention is combined(More)
A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The mechanical design incorporates DC servo drive, with actuator hardware at each individual joint, allowing reconfigurable link lengths. It has(More)
BACKGROUND Recent studies have documented motions of the upper limbs of healthy subjects during activities of daily living. The aim of this study was to investigate compensatory motions of the upper extremity and torso during tasks for transradial prosthesis users and to determine if bracing simulates prosthesis use. METHODS Seven transradial myoelectric(More)
This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA) [3]. It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a WMRA. In an effort to evaluate two(More)
Wheelchair-bound persons with upper limb motion limitations can utilize a wheelchair-mounted robotic arm (WMRA) to perform activities of daily living (ADL) tasks. In this paper, an optimized control of our 9-DoF system, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair, is achieved. For effective ADL task execution, positioning the end-effector(More)