Collaborative Control of the Manus Manipulator

@article{Driessen2005CollaborativeCO,
  title={Collaborative Control of the Manus Manipulator},
  author={B. J. F. Driessen and T. K. Ten. Kate and F. Liefhebber and A. H. G. Versluis and J. A. van Woerden},
  journal={9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.},
  year={2005},
  pages={247-251}
}
The Manus manipulator is a wheelchair mounted assistive device for severely motor disabled persons. It is a six degrees of freedom rehabilitation robot (excluding external lift and gripper), the control of which can be improved, especially for users with very limited rest functionality. The approach presented in this paper combines autonomous vision based control with direct user control resulting in a collaborative controller. Results of preliminary user trials show that this technique allows… CONTINUE READING

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