title: Autonomous function of wheelchair-mounted robotic manipulators to perform daily activities.
abstract: Autonomous functions for wheelchair-mounted robotic manipulators (WMRMs) allow a user to focus more on the outcome from the task - for example, eating or drinking, instead of moving robot joints through user interfaces. In this paper, we introduce a novel personal assistive robotic system based on a position-based visual servoing (PBVS) approach. The system was evaluated with a complete drinking task, which included recognizing the location of the drink, picking up the drink from a start location, conveying the drink to the proximity of the user's mouth without spilling, and placing the drink back on the table. For a drink located in front of the wheelchair, the success rate was nearly 100%. Overall, the total time of completing drinking task is within 40 seconds.
authors.forename: Cheng-Shiu
authors.initials: CS
authors.lastname: Chung
authors.forename: Hongwu
authors.initials: H
authors.lastname: Wang
authors.forename: Rory A
authors.initials: RA
authors.lastname: Cooper
mesh_terms: D000203:Activities of Daily Living; D001696:Biomechanical Phenomena; D006233:Persons with Disabilities / Q000534:rehabilitation; D004867:Equipment Design; D006801:Humans; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D012984:Software; D014584:User-Computer Interface; D014910:Wheelchairs / Q000706:statistics & numerical data*