Human in Loop Integration of an Arm Mounted Wheelchair Robot Based on RT Middleware

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Wang, Wei; Suga, Yuki (Department of Modern Mechanical Engineering, Waseda University, Japan)
Sugano, Shigeki (Waseda University, Japan)

We have developed an wheelchair mounted robotic arm system that consist of a light weight robotic arm, powerwheelchar, external sensors, and interfacing devices. In order to manage the system complexity, and build an effective and reliable integrated human in loop system based on our hardware platform, a integration architecture is proposed, which employed an "system process/service provider" integrative framework, and a a hierarchical design of system modules. The "RT Middleware" technology is adopted as the software platform for implementation issues.