title: An intelligent end-effector for a rehabilitation robot.
abstract: A UMI RTX robot, modified with limited end-effector sensors and a restricted but effective vision system, is currently used in a developmental education setting for severely physically disabled children. The low physical and cognitive abilities of the children involved in the project require a semi-autonomous robot with environmental sensing capability to operate in a task oriented mode. A variety of low-cost sensors including proximity, distance, force and slip sensors, have been investigated for integration in end-effectors for the RTX robot. The sensors employed on a modified end-effector are detailed and experimental results are presented. A design for an end-effector with integrated sensors is discussed. The integration of the sensor information into a high-level, task-oriented programming language is detailed and examples of high-level control sequences using sensor inputs are presented. Finally, the development of intelligent gripping strategies based on sensor information is discussed.
authors.affiliation: University Engineering Department, University of Cambridge, UK.
authors.forename: R G
authors.initials: RG
authors.lastname: Gosine
authors.forename: W S
authors.initials: WS
authors.lastname: Harwin
authors.forename: L J
authors.initials: LJ
authors.lastname: Furby
authors.forename: R D
authors.initials: RD
authors.lastname: Jackson
mesh_terms: D001185:Artificial Intelligence; D001925:Brain Damage, Chronic / Q000534:rehabilitation*; D002648:Child; D006801:Humans; D011381:Programming Languages; D012371:Robotics / Q000295:instrumentation*; D012985:Software Design