Using biological approaches for the control of a 9-DoF wheelchair-mounted robotic arm system: Initial experiments

摘要

Biological studies have contributed to the control of mobile robots. Studies from the field of neuroscience to the field of psychology have shown roboticists different ways to control mechanical devices. A number of studies pertaining to human reaching and grasping have been done in the past few decades. These studies provide the psychological and neuropsychological evidence regarding human perception and movement of the human hand. This research aims to incorporate ideas from biological studies to control a 9-DoF wheelchair-mounted robotic arm (WMRA) system to be used as an assistive device. This paper gives succinct details of the biological studies done related to human sensorimotor actions and applies those ideas to control the WMRA. These ideas are incorporated into the WMRA system to work within its limits in its intended environment as an assistive device. This paper provides the implementation and initial simulation results.