Multi-degree of freedom telemanipulation in an unstructured environment

Independence in the development of daily tasks, such as grasping and moving objects, play a key role in the well being of people who are physically challenged due to impartment in their upper extremities. New technologies in the form of robotic manipulators resembling human-scale arms may present a promising future, provided that they can be controlled in ways that resemble human movements. Our work addresses the multi-degree control of a wheelchair-mounted manipulator that provides the user with increased independence in an unstructured environment. We are developing new human-machine interfaces as well as a virtual reality-based training environment.