The proposed scheme is composed of a smartphone, a vehicle equipped with Wi-Fi module and an IPCam working as a detecting robot to explore the unknown environment. Besides, another vehicle equipped with Wi-Fi module is also developed as a trunk robot to extend the detecting range. On the other hand, these vehicles are designed to be driven by the smartphone based on iOS (an iPod Touch in the experiments) via Wi-Fi module along with some proper designs of control circuit mounted on the vehicles. By the audio-visual feedback signals from IPCam, the real-time scenario from the detecting area not only can be shown on the screen of the smartphone but also provides the information of the detected environment in order to guide the robot. Two control approaches were provided in the proposed control scheme, the touch-panel control and the smartphone-status control, to drive the vehicles with the help of visual feedback on the screen of the smartphone. Moreover, the trajectories of the robots were also recorded for further applications. Some experimental results are given to validate the satisfactory performance of the proposed control scheme.
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机译:Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性