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A Virtual Headstick for People with Spinal Cord Injuries

Published online by Cambridge University Press:  01 September 1998

Shoupu Chen ,
Tariq Rahman ,
Richard Foulds ,
Edwin Heredia  and
William Harwin
Shoupu Chen
Affiliation:
Center for Applied Science and Engineering, University of Delaware/Alfred I. duPont Hospital for Children, Wilmington, DE 19899, USA
Tariq Rahman
Affiliation:
Center for Applied Science and Engineering, University of Delaware/Alfred I. duPont Hospital for Children, Wilmington, DE 19899, USA
Richard Foulds
Affiliation:
Center for Applied Science and Engineering, University of Delaware/Alfred I. duPont Hospital for Children, Wilmington, DE 19899, USA
Edwin Heredia
Affiliation:
Thomson Consumer Electronics, Corporate Innovation and Research, Indianapolis, IN 46206, USA
William Harwin
Affiliation:
Department of Cybernetics, University of Reading, Reading RG6 6AY, UK
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Abstract

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This paper presents a virtual headstick system as an alternative to the conventional passive headstick for persons with limited upper extremity function. The system is composed of a pair of kinematically dissimilar master-slave robots with the master robot being operated by the user's head. At the remote site, the end-effector of the slave robot moves as if it were at the tip of an imaginary headstick attached to the user's head. A unique feature of this system is that through force-reflection, the virtual headstick provides the user with proprioceptive information as in a conventional headstick, but with an augmentation of workspace volume and additional mechanical power. This paper describes the test-bed development, system identification, bilateral control implementation, and system performance evaluation.

Keywords

Assistive roboticsHead-controlProprioceptionTele-manipulatorsForce-reflectionMaster-slave manipulation systemsMan-machine systemsForce-feedback controlSystem identificationFitts' law
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 499 - 507
Copyright
© 1998 Cambridge University Press