Rehabilitation robot FRIEND II - the general concept and current implementation

Author

Volosyak, Ivan ; Ivlev, Oleg ; Gräser, Axel

Author_Institution

Inst. of Autom., Bremen Univ., Germany

fYear

2005

fDate

28 June-1 July 2005

Firstpage

540

Lastpage

544

Abstract

FRIEND II which is the successor of the rehabilitation robot FRIEND I is being developed at the Institute of Automation, University of Bremen, and belongs to the category ´intelligent´ wheelchair mounted manipulators. Both systems are used as a personal assistant to support disabled persons with upper-limb impairments in daily life situations as well as in the working environment. Significant improvements are obtained with the use of smart devices, new camera systems, a humanlike robot arm with 7-joint kinematics, a new control concept - kinematic configuration control, force torque sensor and two interchangeable grippers. This paper describes the hardware selection and the innovations in the hardware of the system FRIEND II currently under development.

Keywords

grippers; handicapped aids; manipulator kinematics; medical robotics; mobile robots; patient rehabilitation; 7-joint kinematics; FRIEND II; camera systems; disabled persons; force torque sensor; humanlike robot arm; intelligent wheelchair mounted manipulator; interchangeable grippers; kinematic configuration control; personal assistant; rehabilitation robot; smart devices; upper-limb impairments; Control systems; Force control; Hardware; Intelligent robots; Kinematics; Mobile robots; Rehabilitation robotics; Robotics and automation; Torque control; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on

Print_ISBN

0-7803-9003-2

Type

conf

DOI

10.1109/ICORR.2005.1501160

Filename

1501160