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PubMed · 519089

The Spartacus telethesis: manipulator control studies.

J Guittet·H H Kwee·N Quetin·J Yclon
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Abstract

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.

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Activities of Daily LivingAdultElectromyographyElectronicsFemaleHeadHumansMaleMan-Machine SystemsMiddle AgedMovementQuadriplegiaSafetySelf-Help DevicesTransducersVoiceCase ReportsJournal Article

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BibTeXRIS

J Guittet, H H Kwee, N Quetin, J Yclon. 1979. The Spartacus telethesis: manipulator control studies.. https://pubmed.ncbi.nlm.nih.gov/519089/

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