The Spartacus telethesis: manipulator control studies.
This paper describes a method and an experimental system permitting a severely handicapped operator, such as a quadriplegic, to control a telemanipulator. These developments form the first phase in the design of the Spartacus "telethesis". This is a manipulator system specifically developed for a quadriplegic person. Manipulator control experiments which are discussed concern four quadriplegics who have used the experimental system for significant periods of time. The present system is a laboratory simulation of a telethesis, consisting of an industrial manipulator controlled by a mini-computer. A flexible semi-sequential control and a variety of transducers permit the system to be adapted to the individual user. Thus far, the experiments performed have shown the feasibility for the four quadriplegics to effectively control a telemanipulator, using head movements and some remaining arm movements in various modes of end-point control. In particular, a position control and a "piloting" type of velocity control, both with the addition of some force limitation, have given promising results.
D000203:Activities of Daily Living; D000328:Adult; D004576:Electromyography; D004581:Electronics; D005260:Female; D006257:Head / Q000502:physiology; D006801:Humans; D008297:Male; D008328:Man-Machine Systems; D008875:Middle Aged; D009068:Movement; D011782:Quadriplegia / Q000534:rehabilitation*; D012449:Safety; D012656:Self-Help Devices; D014159:Transducers; D014831:Voice