Moenes Iskarous

Intelligent robotic systems in service of the disabled

The authors argue that intelligence is necessary in robots used for rehabilitation in order to reduce the amount of mental activity needed by the user of these robots. With this in mind, the areas of research relevant to imparting robotic systems with the capability of assuming a more intelligent role are identified. The authors describe their implementation of functionalities such as fuzzy command interpretation, object recognition, face tracking, and task planning and learning, which are part of the ISAC, an intelligent system designed to feed individuals with physical disabilities. >

Design philosophy for service robots

The purpose of this paper is to present our design philosophy for service robotics research and development and to describe our current efforts along this line. Our approach begins with a discussion of the role of service robotics and some features that are unique to them. We then describe our design philosophy that emphasizes compromise and practicality in design. We will use this philosophy in the design and implementation of an intelligent robotic-aid system, based on ISAC and HERO. ISAC is a stationary service robot designed to feed physically handicapped people that is operated by voice command. HERO is a small mobile robot integrated into the system to provide new functionality for the user. We will make use of our design philosophy to solve some of the robot navigation problems and describe how our approach will help to solve these problems efficiently. Some problems will be approached by a technical solution, and other problems will be solved through an expanded user interface and the intelligence of the user. Performance of a useful service at a reasonable cost through close robot-user interaction is our goal.

Trends in service robots for the disabled and the elderly

This paper reviews the state of the art in service robots for the disabled and the elderly people. The classification is based upon system hardware configurations. Key R&D issues in the field of service robots for the disabled and elderly are discussed. The ISAC-HERO system being developed at the Intelligent Robotics Laboratory at Vanderbilt University is presented as an example of an intelligent robotic aid system. Then emerging trends in the areas of user interface, learning and adaptation are presented.<<ETX>>

Intelligent control using a neuro-fuzzy network

Intelligent control techniques have emerged to overcome some deficiencies in conventional control methods in dealing with complex real-world systems. These problems include knowledge adaptation, learning, and expert knowledge incorporation. In this paper, a hybrid network that combines fuzzy inferencing and neural networks is used to model and to control complex dynamic systems. The network takes advantage of the learning algorithms developed for neural networks to generate the knowledge base used in fuzzy inferencing. The network as used to model and to control a robot arm with flexible pneumatic actuator. Comparison with a nonlinear control technique used for the robot joints is also presented.

Intelligent control of a robotic aid system for the physically disabled

An overview is given of research on a robotic aid system for the physically disabled. One of the goals of the system is to assist the user in feeding. In order to provide safe and easy-to-use services to the user in an environment where the robot arm operates near the users face, reactive and predictive control is essential. Several research issues involved in building such an intelligent controller are presented, and the approach used to implement a mechanism for avoiding collision of the robot arm with the users face is described.<<ETX>>

Erratum to "Intelligent Robotic Systems in Service of the Disabled"

|We argue that intelligence is necessary in robots used for rehabilitation in order to reduce the amount of mental activity needed by the user of these robots. With this in mind, the areas of research relevant to imparting robotic systems with the capability of assuming a more intelligent role are identi ed. We describe our implementation of functionalities such as fuzzy command interpretation, object recognition, face tracking, and task planning and learning, which are part of the ISAC, an intelligent system designed to feed individuals with physical disabilities.