NDLI: Telerobotic haptic system to assist the performance of occupational therapy tests by motion-impaired users

Content Provider	IEEE Xplore Digital Library
Author	Pernalete, N. Wentao Yu Dubey, R. Moreno, W.A.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Western Michigan Univ., Kalamazoo, MI, USA (Pernalete, N.)
Abstract	This paper describes the development of intelligent mapping from a haptic user interface to a remote manipulator to assist individuals with disabilities performing occupational therapy tasks. This mapping, referred to an assistance function, is determined on the basis of environmental model or sensory data to guide the motion of a telerobotic manipulator while performing a given task. Human input is enhanced rather than superseded by the computer. Three manual dexterity assessment tests, commonly used in the occupational therapy field, were chosen to implement the several forms of assistance functions designed to augment the human performance. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK software. This work is the continuation of the authors' previous work at the ICRA'02 [Pernalete, N, et al, 2002], in which only results of fully able individuals were presented. Two motion-impaired users with severe forms of muscular dystrophy and spinal cord injure, volunteered to participate in the experiments and their results are presented in this article. The results demonstrated that the forms of assistance provided reduced the execution times and increased the performance of the chosen tasks for the disabled individuals as well as they did for the fully-able persons. In addition, these results suggest that the introduction of the haptic rendering capabilities, including the force feedback, offers special benefit to motion-impaired users by augmenting their performance on job-related tasks.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1247
Ending Page	1252
File Size	408597
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241763
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Telerobotics Haptic interfaces Medical treatment System testing Humans Intelligent sensors User interfaces Software testing Imaging phantoms Spinal cord
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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