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标题：Design and Preliminary Testing of a Continuum Assistive Robotic Manipulator
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作者：Ryan Coulson ,, , Megan Robinson ,, , Max Kirkpatrick ; Devin R. Berg
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2019
卷号：8
期号：4
页码：1-8
DOI：10.3390/robotics8040084
出版社：MDPI Publishing
摘要：Background: The application of continuum manipulators as assistive robots is discussed and tested through the use of Bendy ARM, a simple manually teleoperated tendon driven continuum manipulator prototype. Methods: Two rounds of user testing were performed to evaluate the potential of this arm to aid people living with disabilities in completing activities of daily living. Results: In the first round of user testing, 14 able-bodied subjects successfully completed the prescribed task (pick-and-place) using multiple control schemes after being given a brief introduction and one minute of practice with each scheme. In the second round of user testing, subjects ( n = 3 ) demonstrated between 29.5 and 48.9 percent improvement in completion time across twelve trials of a peg-in-hole task, and between 8.4 and 33.8 percent improvement across six trials of a task involving opening and closing a drawer. Conclusion: Based on these results, it is posited that continuum manipulators merit further consideration as a safer and more cost-effective alternative to existing commercially available assistive robotic manipulators.
关键词：continuum manipulators; assistive technology; robot design; user testing; assistive robot continuum manipulators ; assistive technology ; robot design ; user testing ; assistive robot