Collaborative Control of the MANUS Manipulator

摘要

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) of which the control can be improved through the introduction of sensors, especially for users with very limited rest functionality. The approach presented in this paper combines sensor based control with direct user control resulting in a collaborative controller and deals with human interface extensions and improvements.