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A 9-Dof wheelchair mounted robotic arm system (WMRA) has been developed to assist wheelchair-bound persons with upper limb motion limitations to perform activities of daily living (ADL) tasks. In this paper, we utilize mobile manipulation control to keep the end-effector stationary while moving the base and vice versa. This allows easier execution of a group of pre-set ADL tasks including opening...
Wheelchair-bound persons with upper limb motion limitations can utilize a wheelchair-mounted robotic arm (WMRA) to perform activities of daily living (ADL) tasks. In this paper, an optimized control of our 9-DoF system, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair, is achieved. For effective ADL task execution, positioning the end-effector with proper wheelchair orientation was optimized...
A new and light wheelchair-mounted robotic arm (WMRA-II) was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The structure of the new robotic arm utilizes carbon-fiber and polycarbonate tubes to reduce the arm weight. The mechanical design incorporates DC servo drive, with actuator...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy...
A model of the human upper limb was developed for predicting the motion of the human upper limb while performing activities of daily living. This study focuses on the effect of a joint limit function on the ability of the model to perform human like movements. This measurement was analysed by comparing the modelled joint movements with recorded movements of subjects while drinking from a cup, opening...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the 2-degree-of-freedom power wheelchair control...
A new robotic gripper was designed and constructed for activities of daily living (ADL) to be used with the new wheelchair-mounted robotic arm developed at USF. Two aspects of the new gripper made it unique; one is the design of the paddles, and the other is the design of the actuation mechanism that produces parallel motion for effective gripping. The paddles of the gripper were designed to grasp...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy can be optimized to effectively perform...
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