Skip to main content
SpringerLink
Log in

Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units

  • Published:
Autonomous Robots Aims and scope Submit manuscript

Abstract

In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users (that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users (with spinal cord injury).

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Afma-robots, AFMASTER, http://www.afma-robots.com.

  • Applied Science Laboratories, Model 504. http://www.a-s-l.com/ 504 home.htm

  • Applied Science Laboratories, Model 501. http://www.a-s-l.com/ 501 home.htm

  • Basmajian, J.V. and De Luca, C.J. 1985. Muscle Alive, Williams & Wilkins, 5th edition.

  • Bien, Z. and Song, W.-K. 2000. Novel wheelchair-based robotic arm with visual servoing capability for human-robot interaction. In Workshop on Service Automation and Robotics, Hong Kong, June, pp. 5-17.

  • Bolduc, M. and Levine, M.D. 1998. A review of biologically motivated space-variant data reduction models for robotic vision. Computer Vision and Image Understanding, 69(2):170-184.

    Google Scholar 

  • Chang, P.-H. and Park, H.-S. 2003. Development of a robotic arm for handicapped people: A task-oriented design approach.Will be appeared in Autonomous Robots, vol. 15.

  • Chang, P.-H. et al. 2003. Active compliance control for the disabled with cable transmission. In Proceedings of ICORR2003, pp. 84-87.

  • Choi, J. 2001. Design of a behavior-based controller using a novel camera head and its application to service robots. MS Thesis, KAIST, Korea. (in Korean)

    Google Scholar 

  • Chen, N. and Parker, G.A. 1994. Inverse kinematic solution to a calibrated puma 560 industrial robot. Control Engineering Practice, 2:239-245.

    Google Scholar 

  • Colello, M.S. and Mahoney, R.M. 2002. Commercializing assistive and therapy robotics. In Universal Access and Assistive Technogy, S. Keates et al. (Eds.), pp. 223-234.

  • Conte, G., Longhi, S., and Zulli, R. 1996. Motion planning for unicycle and car-like robots. International Journal of Systems Science, 27(8):791-798.

    Google Scholar 

  • Craig, J.J. 1989. Introduction to Robotics: Mechanics and Control, Addison-Wesley Publishing Co.

  • Dallaway, J.L., Jackson, R.D., and Timmers, P.H.A. 1995. Rehabilitation robotics in Europe. IEEE Tr. on Rehabilitation Engineering, 3:35-45.

    Google Scholar 

  • Ebisawa, Y. 1998. Improved video-based eye-gaze detection method. IEEE Trans. on Instrument and Measurement, 47(4):948-955.

    Google Scholar 

  • Eftring, H. and Boschian, K. 1999. Technical results from MANUS user trials. In Proc. 6th Int. Conf. on Rehabilitation Robotics, pp. 136-141.

  • Erlandson, R.F. 1995. Applications of robotic/mechatronic systems in special education, rehabilitation therapy, and vocational training: A paradigm shift. IEEE Tr. on Rehabilitation Engineering, 3:22-32.

    Google Scholar 

  • FSR an Overview of the technology. Tech-Storm Co., Ltd.

  • Glenstrup, A.J. and Engell-Nielsen, T. 1995. Eye controlled media: Present and future state. B.S. Dissertation, Copenhagen University.

  • Gomi, H. and Kawato, M. 1997. Human arm stiffness and equilibrium-point trajectory during multi-joint movement. Biological Cybernetics, 76:163-171.

    Google Scholar 

  • Han, J.-S., Bang, W.-C., and Bien, Z.Z. 2002. Feature set extraction algorithm based on soft computing techniques and its application to EMG pattern classification. Journal of Fuzzy Optimization and Decision Making, 1:269-286.

    Google Scholar 

  • Harwin, W.S., Rahman, T., and Foulds, R.A. 1995.Areview of design issues in rehabilitation robotics with reference to north American research. IEEE Tr. on Rehabilitation Engineering, 3:3-13.

    Google Scholar 

  • Hillman, M. 1998. Introduction to the special issue on rehabilitation robotics. Robotica, 16:485.

    Google Scholar 

  • Hillman, M., Hagan, K., Hagan, S., Jepson, J., and Orpwood, R. 2001. Integration of a robotic device onto a powered wheelchair. In 7th Int'l Conf. on Rehabilitation Robotics, Evry, France, pp. 192-198.

  • Hillman, M.R. and Jepson, J. 1992. Evaluation of a robotic workstation for the disabled. J. of Biomedical Eng., 14:187-192.

    Google Scholar 

  • Hillman, M.R., Pullin, G.M., Gammie, A.R., Stammers, C.W., and Orpwood, R.D. 1990. Development of a robot arm andworkstation for the disabled. J. of Biomedical Eng., 12:199-204.

    Google Scholar 

  • Hillman, M.R., Pullin, G.M., Gammie, A.R., Stammers, C.W., and Orpwood, R.D. 1991. Clinical experience in rehabilitation robotics. J. of Biomedical Eng., 13:239-243.

    Google Scholar 

  • Hillman, M. et al. 2002. The weston wheelchair mounted assistive robot-The design story. Robotica, 20:125-132.

    Google Scholar 

  • Hogan, N. 1984. An organizing principle for a class of voluntary movements. Journal of Neuroscience, 4(11).

  • Hsia, T.C. and Gao, L.S. 1990. Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers. In IEEE Int. Conf. on Robotics and Automation, pp. 2070-2075.

  • http://www.kscic.or.kr/relifeinfo/about/aboutsci.html#spine

  • http://www.care-o-bot.de/english/Care-O-bot 2.php

  • http://www.shodor.org/interactivate/activities/boxplot/, 2002.

  • http://www.bcdi.be/new/en/projects/data.html

  • ISRA, 1995. The service robot market, an in-depth study from the international service association. ISRA, 1995.

  • Iwata, H. et al. 1999. A physical interference adapting hardware system using MIA arm and humanoid surface covers. In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1216-1221.

  • Jain, R., Kasturi, R., and Schunck, B.G. 1995. Machine Vision, McGraw-Hill Book Co.

  • Jebsen, R.H., Taylor, N., Trieschmann, R.B., Trotter, M.J., and Howard, L.A. 1969. An objective and standardized test of hand function. Arch. Phys. Med. Rehab., 50:311-319.

    Google Scholar 

  • Johnson, D.E. 1975. Rapid Practical Designs of Active filters, John Wiley & Sons.

  • Jones, D.K., Cooper, R.A., Albright, S., and DiGiovine, M. 1998. Powered wheelchair driving performance using force-and position-sensing joysticks. In Proceedings of the IEEE 24th Annual Northeast Bioengineering Conference, April, pp. 130-132.

  • Jruger,V. 1995. Optical flowcomputation in the complex logarithmic plane. Diploma-Thesis, University of Kiel, Germany.

    Google Scholar 

  • Kawamura, K. and Isakarous, M. 1994. Trends in service robots for the disabled and the elderly. In Proc. of IROS'94, pp. 1647-1654.

  • Kim, J.-H., Lee, B.-R., Kim, D.-H. and Chung, M.-J. 2003. Eyemouse system for people with motor disabilities. In Proc. Int'l. Conf. Rehabilitation Robotics, pp. 159-163.

  • Kim, D.-J., Song, W.-K., Han, J.-S., and Bien, Z.Z. 2002. Soft computing based intention reading techniques as a means of human-robot interaction for human centered system. Journal of Soft Computing, 7:160-166.

    Google Scholar 

  • Krebs, H.I., Hogan, N., Volpe, B.T., Aisen, M.L., Edelstein, L., and Diels, C. 1999. Robot-aided neuro-rehabilitation in stroke: Threeyear follow-up. In Proceedings of ICORR1999, pp. 34-41.

  • Kwee, H.H. 1998. Integrated control of MANUS manipulator and wheelchair enhanced by environmental docking. Robotica, 16(5):491-498.

    Google Scholar 

  • Lee, B.-R. 2002.Areal-time eye-gaze tracking system using infrared rays and vision sensor. M.S. Dissertation, Korea Advanced Institute of Science and Technology.

  • Lee, K. and Kwon, D.-S. 2000. Sensors and actuators of wearable haptic master device for the disabled. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems( IROS), pp. 371-376.

  • Lee, K. and Kwon, D.-S. 2001a. Wearable master device for spinal injured persons as a control device of motorized wheelchairs. Journal of Artificial Life and Robot, 4(4):182-187.

    Google Scholar 

  • Lee, K. andKwon, D.-S. 2001b.Wearable master device using optical fiber curvature sensors for the disabled. Proceedings 2001 ICRA, 1:892-896.

  • Lum, P.S., Burgar, C.G., Shor, P.C., Majmundar, M., Van der Loos, H.F.M. 2002. Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper limb motor function after stroke. Arch. Phys. Med. Rehab., 83:952-959.

    Google Scholar 

  • Machiel Van der Loos, H.F. 1995.Va/Stanford rehabilitation robotics research and development program: Lessons learned in the application of robotics technology to the field of rehabilitation. IEEE Tr. on Rehabilitation Engineering, 3:46-55.

    Google Scholar 

  • Martens, C., Ivlev, O., Graser, A., Lang, O., and Ruchel, N. 2001. A friend for assisting handicapped people. IEEE Robotics and Automation Magazine, March 2001.

  • Martens, C., Ivlev, O., and Graser, A. 2001. Interactive controlled robotic system FRIEND to assist disabled people. In 7th Int'l Conf. on Rehabilitation Robotics, Evry, France, pp. 148-154.

  • Martens, C., Kim, D.-J., Han, J.-S., Graeser, A., and Bien, Z. 2002. Concept for a modified hybrid multi-layer control architecture for rehabilitation robots. In 3rd Int'l Workshop on HumanfriendlyWelfare Robotic Systems, pp. 49-54, Daejeon, Korea, Jan. 20-22.

  • Netter, F.H. 1999. Atlas of Human Anatomy. NOVARTIS, 2nd edition.

  • Peters II, R.A., Bishay, M., Cambron, M.E., and Negishi, K. 1996. Visual servoing for service robot. Robotics and Autonomous Systems, 18:213-224.

    Google Scholar 

  • Rao, R., Agrawal, S.K., and Scholz, J.P. 2000. A robot test-bed for assistance and assessment in physical therapy. Advanced Robotics, 14(7):565-578.

    Google Scholar 

  • Salisbury, J.K. Active stiffness control of manipulator in cartesian coordinates. In Proc. of 19th IEEE Conf. on Decision and Control, pp. 95-100.

  • SensoMotoric Instrument, 3D VOG Video-oculography. [Online]. Available: http://www.smi.de/3d/index.htm Song, W.-K. 2003. Blend of soft computing techniques for effective human-machine interaction in service robotic systems. Fuzzy Sets and Systems, 134:5-25.

  • Song, W.-K., Lee, H., and Bien, Z. 1999. KARES: Intelligent wheelchair-mounted robotic arm system using vision and force sensor. Robotics and Autonomous Systems, 28(1): 83-94.

    Google Scholar 

  • Tejima, N. 1996. Evaluation of rehabilitation robots for eating. In IEEE International Workshop on Robot and Human Communication, pp. 118-120.

  • Topping, M. 2001. Handy 1, a robotic aid to independence for severely disabled people. In 7th Int'l Conf. on Rehabilitation Robotics, Evry, France, pp. 142-147.

  • Townsend, W.T. 1988. The effect of transmission design on forcecontrolled manipulator performance. PhD Thesis, MIT.

  • Weiman, C.F.R. 1989. Tracking algorithm using log-polar mapped image coordinates. In SPIE vol. 1192 Intelligent Robots and Computer Vision VIII: Algorithms and Techniques, pp. 843-853.

  • Youcef-Toumi, K. and Ito, O. 1990. A time delay controller for systems with unknown dynamics. Trans. ASME Journal of Dynamic Systems, Measurement, and Control, 112(1):133-142.

    Google Scholar 

Download references

Authors
  1. Zeungnam Bien
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Myung-Jin Chung
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Pyung-Hun Chang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Dong-Soo Kwon
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Dae-Jin Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Jeong-Su Han
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Jae-Hean Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Do-Hyung Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  9. Hyung-Soon Park
    View author publications

    You can also search for this author in PubMed Google Scholar

  10. Sang-Hoon Kang
    View author publications

    You can also search for this author in PubMed Google Scholar

  11. Kyoobin Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  12. Soo-Chul Lim
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Bien, Z., Chung, MJ., Chang, PH. et al. Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units. Autonomous Robots 16, 165–191 (2004). https://doi.org/10.1023/B:AURO.0000016864.12513.77

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/B:AURO.0000016864.12513.77

Search

Navigation