| Autor: |
Ryan Coulson, Megan Robinson, Max Kirkpatrick, Devin R. Berg |
| Jazyk: |
angličtina |
| Rok vydání: |
2019 |
| Předmět: |
|
| Zdroj: |
Robotics, Vol 8, Iss 4, p 84 (2019) |
| Druh dokumentu: |
article |
| ISSN: |
2218-6581 |
| DOI: |
10.3390/robotics8040084 |
| Popis: |
Background: The application of continuum manipulators as assistive robots is discussed and tested through the use of Bendy ARM, a simple manually teleoperated tendon driven continuum manipulator prototype. Methods: Two rounds of user testing were performed to evaluate the potential of this arm to aid people living with disabilities in completing activities of daily living. Results: In the first round of user testing, 14 able-bodied subjects successfully completed the prescribed task (pick-and-place) using multiple control schemes after being given a brief introduction and one minute of practice with each scheme. In the second round of user testing, subjects ( n = 3 ) demonstrated between 29.5 and 48.9 percent improvement in completion time across twelve trials of a peg-in-hole task, and between 8.4 and 33.8 percent improvement across six trials of a task involving opening and closing a drawer. Conclusion: Based on these results, it is posited that continuum manipulators merit further consideration as a safer and more cost-effective alternative to existing commercially available assistive robotic manipulators. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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