TY - JOUR
T1 - Lending a helping hand
T2 - Toward novel assistive robotic arms
AU - Groothuis, Stefan S.
AU - Stramigioli, Stefano
AU - Carloni, Raffaella
PY - 2013/3/8
Y1 - 2013/3/8
N2 - Assistive robotics is an increasingly popular research field, which has led to a large number of commercial and noncommercial systems aimed at assisting physically impaired or elderly users in the activities of daily living. In this article, we propose five criteria based on robotic arm usage scenarios and surveys with which assistive robotic arms can be classified. Different possibilities and implementations to obtain each criterion are treated, and examples of current assistive robotic arms are given. Implementations and systems are discussed and rated qualitatively, which leads to the observation that variable stiffness actuation offers great benefits for assistive robotic systems despite an increase in the overall complexity.
AB - Assistive robotics is an increasingly popular research field, which has led to a large number of commercial and noncommercial systems aimed at assisting physically impaired or elderly users in the activities of daily living. In this article, we propose five criteria based on robotic arm usage scenarios and surveys with which assistive robotic arms can be classified. Different possibilities and implementations to obtain each criterion are treated, and examples of current assistive robotic arms are given. Implementations and systems are discussed and rated qualitatively, which leads to the observation that variable stiffness actuation offers great benefits for assistive robotic systems despite an increase in the overall complexity.
UR - http://www.scopus.com/inward/record.url?scp=84874878033&partnerID=8YFLogxK
U2 - 10.1109/MRA.2012.2225473
DO - 10.1109/MRA.2012.2225473
M3 - Article
AN - SCOPUS:84874878033
SN - 1070-9932
VL - 20
SP - 20
EP - 29
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 1
M1 - 6476697
ER -