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Christian Martens, Axel Gräser

Framework for Semi-autonomous Task Execution with Rehabilitation Robots

Keywords: Semi-autonomous task execution, human-machine interaction, formal verifiable control architectures, modified assembly planning, rehabilitation robotics

Rehabilitation robots with a real benefit for their users must be able to execute tasks on a high level of abstraction. This requires the situation dependent planning and execution of actions by the robotic system. With respect to the current state of the art the fulfillment of this requirement can be judged as realistic only, if the user´s cognitive capabilities are taken into account. This paper introduces a software-technical and algorithmic framework for the extension of rehabilitation robotic systems with the ability of semi-autonomous task execution.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 54, 01/2006
Pages: 010 - 022

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