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Collaborative Control of the Manus Manipulator

Abstract

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 severely disabled persons to manipulate objects more easily.

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Notes

  1. 1.

    If the complete Jacobian is not known, e.g., because the 3D position is not known entirely, the pseudo-inverse jacobian is used

  2. 2.

    For instance, daylight is very different in color from the light of a bulb

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Correspondence to B. J. F. Driessen.

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Driessen, B.J.F., Kate, T.K.T., Liefhebber, F. et al. Collaborative Control of the Manus Manipulator. Univ Access Inf Soc 4, 165–173 (2005). https://doi.org/10.1007/s10209-005-0121-6

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Keywords

  • Visual Servoing
  • Collaborative Control
  • Manus
  • Rehabilitation Robotics
  • Sensor Fusion