Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

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

Research output: Contribution to conferencePaperAcademic

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 languageEnglish
Pages537=542
DOIs
Publication statusPublished - 2007
EventIEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007: Robots care! - Noordwijk, Netherlands
Duration: 13 Jun 200715 Jun 2007
Conference number: 10

Conference

ConferenceIEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007
Abbreviated titleICORR
CountryNetherlands
CityNoordwijk
Period13/06/0715/06/07

Keywords

  • IR-76775

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