DC Field | Value | Language |
---|---|---|
dc.contributor.author | Song, WK | ko |
dc.contributor.author | Lee, H | ko |
dc.contributor.author | Bien, Zeung nam | ko |
dc.date.accessioned | 2013-03-03T09:41:55Z | - |
dc.date.available | 2013-03-03T09:41:55Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1999-07 | - |
dc.identifier.citation | ROBOTICS AND AUTONOMOUS SYSTEMS, v.28, no.1, pp.83 - 94 | - |
dc.identifier.issn | 0921-8890 | - |
dc.identifier.uri | http://hdl.handle.net/10203/78236 | - |
dc.description.abstract | KARES, an acronym of KAIST Rehabilitation Engineering System, is the intelligent rehabilitation system with a 6 DOF robotic arm mounted on the powered wheelchair. It is developed to assist the disabled and the elderly for the independent activities. Human-machine interaction is a key issue of design for intelligent systems such as KARES. A special attention is paid in bestowing certain degree of autonomy to the robotic sub-system since the direct control of the robotic arm takes a high cognitive load on the user part while physically disabled persons may have difficulties in dexterously operating a joystick or push buttons for delicate movements. To perceive environment, one color vision sensor and one force/torque sensor are mounted on the end-effector of the robotic arm of KARES. To test the system, four basic tasks are defined as picking up a cup on the table, picking up a pen on the floor, moving an object to the user's face, and operating a switch on the wall. These tasks are performed autonomously in a semi-structured environment. (C) 1999 Elsevier Science B.V. All rights reserved. | - |
dc.language | English | - |
dc.publisher | ELSEVIER SCIENCE BV | - |
dc.subject | REHABILITATION ROBOTICS | - |
dc.subject | DESIGN | - |
dc.title | KARES: Intelligent wheelchair-mounted robotic arm system using vision and force sensor | - |
dc.type | Article | - |
dc.identifier.wosid | 000081979900008 | - |
dc.identifier.scopusid | 2-s2.0-0033620765 | - |
dc.type.rims | ART | - |
dc.citation.volume | 28 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 83 | - |
dc.citation.endingpage | 94 | - |
dc.citation.publicationname | ROBOTICS AND AUTONOMOUS SYSTEMS | - |
dc.contributor.localauthor | Bien, Zeung nam | - |
dc.contributor.nonIdAuthor | Song, WK | - |
dc.contributor.nonIdAuthor | Lee, H | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | wheelchair-mounted robotic arm | - |
dc.subject.keywordAuthor | rehabilitation robots | - |
dc.subject.keywordAuthor | service robots | - |
dc.subject.keywordAuthor | autonomous tasks | - |
dc.subject.keywordAuthor | eye-in-hand | - |
dc.subject.keywordPlus | REHABILITATION ROBOTICS | - |
dc.subject.keywordPlus | DESIGN | - |
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