Telemanipulation using exact dynamics iARM

Document Type

Conference Proceeding

Publication Date

6-29-2012

Abstract

Upper extremity disorders affect many people worldwide. Individuals who are unable to produce arm movements must go about their daily routine depending on others to assist them. This unfortunate disorder does not become unnoticed in the US, since it is estimated that 1 out of 50 people are living with paralysis - approximately 6 million people. [1] Recent advances in technology include various orthopedic instruments, intended to facilitate a patient in accomplishing tasks. This project will introduce an improved and easier telemanipulation control method for an existing orthopedic instrument used on wheelchairs, the iARM, which is manufactured by ExactDynamics. The design and development of our product is intended to provide increased independence for the disabled. This project is investigating two different control methods to replace the already in use keypad, which is provided by Exact Dynamics. Phase I of this research is aimed towards replacing the keypad with a 3D Spaceball 5000, and programming it to function with the iARM through C++ functions in MATLAB. This portion has functioned and provides ease and comfort to the subject who is maneuvering the robotic arm. Phase II includes developing a new device, which will help patient control the robotic arm via movement by two fingers with the utilization of trakSTAR motion sensors. © 2012 IEEE.

Identifier

84862752029 (Scopus)

ISBN

[9781467311410]

Publication Title

2012 38th Annual Northeast Bioengineering Conference Nebec 2012

External Full Text Location

https://doi.org/10.1109/NEBC.2012.6206993

First Page

123

Last Page

124

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