Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

Floran H.A. Stuyt; GertWillem R.B.E. Römer; Harry .J.A. Stuyt

doi:10.1109/ICORR.2007.4428477

Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

Floran H.A. Stuyt, GertWillem R.B.E. Römer, Harry .J.A. Stuyt

University of Twente

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Abstract

The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector of the robot around known obstacles to the target location in O(n) time. In a case study, using the rehabilitation robot ARM, the performance of the algorithm was tested. As was a newly human-machine-interface offering this record-and-replay functionality to the user

Original language	English
Pages	537=542
DOIs	https://doi.org/10.1109/ICORR.2007.4428477
Publication status	Published - 2007
Event	IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007: Robots care! - Noordwijk, Netherlands Duration: 13 Jun 2007 → 15 Jun 2007 Conference number: 10

Conference

Conference	IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007
Abbreviated title	ICORR
Country/Territory	Netherlands
City	Noordwijk
Period	13/06/07 → 15/06/07

Keywords

IR-76775

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10.1109/ICORR.2007.4428477

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title = "Simple Obstacle Avoidance Algorithm for Rehabilitation Robots",

abstract = "The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector of the robot around known obstacles to the target location in O(n) time. In a case study, using the rehabilitation robot ARM, the performance of the algorithm was tested. As was a newly human-machine-interface offering this record-and-replay functionality to the user",

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author = "Stuyt, {Floran H.A.} and R{\"o}mer, {GertWillem R.B.E.} and Stuyt, {Harry .J.A.}",

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doi = "10.1109/ICORR.2007.4428477",

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T1 - Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

AU - Stuyt, Floran H.A.

AU - Römer, GertWillem R.B.E.

AU - Stuyt, Harry .J.A.

N1 - Conference code: 10

PY - 2007

Y1 - 2007

N2 - The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector of the robot around known obstacles to the target location in O(n) time. In a case study, using the rehabilitation robot ARM, the performance of the algorithm was tested. As was a newly human-machine-interface offering this record-and-replay functionality to the user

AB - The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector of the robot around known obstacles to the target location in O(n) time. In a case study, using the rehabilitation robot ARM, the performance of the algorithm was tested. As was a newly human-machine-interface offering this record-and-replay functionality to the user

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U2 - 10.1109/ICORR.2007.4428477

DO - 10.1109/ICORR.2007.4428477

M3 - Paper

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T2 - IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007

Y2 - 13 June 2007 through 15 June 2007

ER -

Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

Abstract

Conference

Keywords

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