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Transactions of the Institute of Measurement and Control
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Sensor-based modification of manipulator trajectories for applications in rehabilitation robotics

W.A. McEachern

Engineering Department, Cambridge University, Cambridge CB2 1 PZ, UK

J.L. Dallaway

Engineering Department, Cambridge University, Cambridge CB2 1 PZ, UK

R.D. Jackson

Engineering Department, Cambridge University, Cambridge CB2 1 PZ, UK

This paper presents a strategy for the use of sensor information in a general purpose teleoperation system for rehabilitation. Current research in teleoperation and mobile robotics is reviewed and its relationship to the design of a rehabilitation manipulation system is discussed. Human models of reaching and grasping tasks are used as the basis for the development of sensor-based strategies for interaction with the environment. Integration of the strategies with the Cambridge University Robot Language is discussed, and quantitative results of experimental trials are presented.

Key Words: Rehabilitation robotics • teleoperation • sensor integration.

Transactions of the Institute of Measurement and Control, Vol. 17, No. 5, 272-280 (1995)
DOI: 10.1177/014233129501700507
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