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Elastic path controller for assistive devices.

B Long1, B Rebsamen, E Burdet

  • 1Department of Mechanical Engineering, National University of Singapore.

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|February 7, 2007
PubMed
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This study introduces an Elastic Path Controller (EPC) for robotic assistive devices. The EPC allows users to dynamically modify motion paths, improving adaptability and reducing human effort in complex environments.

Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Control Systems

Background:

  • Robotic assistive devices simplify human motion control along predefined paths.
  • Existing systems lack adaptability to environmental changes or sensing errors.
  • Dynamic path modification is needed for enhanced user control and system robustness.

Purpose of the Study:

  • To introduce and evaluate an Elastic Path Controller (EPC) for robotic assistive devices.
  • To enable dynamic modification of motion paths for improved environmental compensation.
  • To assess user learnability and effectiveness in designing and modifying guiding paths.

Main Methods:

  • Development of the Elastic Path Controller (EPC) algorithm.
  • Integration of the EPC with a Scooter cobot platform.

Related Experiment Videos

  • Experimental evaluation involving human operators interacting with the EPC.

    • Main Results:

    • Users successfully learned to operate the EPC for path modification.
    • The EPC demonstrated effective dynamic path adjustment in response to user input.
    • Operators could intuitively modify guiding paths by applying forces.
    • The system successfully guided users back to modified paths after force release.

    Conclusions:

    • The Elastic Path Controller (EPC) offers a novel and intuitive method for dynamic path modification in robotic assistance.
    • This approach enhances user control and adaptability to environmental changes.
    • The EPC shows promise for improving the usability and effectiveness of robotic assistive devices.