Simple Obstacle Avoidance Algorithm for Rehabilitation Robots

Floran H. A. Stuyt, GertWillem R. B. E. Romer, Harry J. A. Stuyt
2007 2007 IEEE 10th International Conference on Rehabilitation Robotics  
The efficiency of a rehabilitation robot is improved by offering record-and-replay to operate the robot. While automatically moving to a stored target (replay) collisions of the robot with obstacles in its work space must be avoided. A simple, though effective, generic and deterministic algorithm for obstacle avoidance was developed. The algorithm derives a collision free path of the end-effector of the robot around known obstacles to the target location in O(n) time. In a case study, using the
more » ... se study, using the rehabilitation robot ARM, the performance of the algorithm was tested. As was a newly Human-Machine-Interface offering this record-and-replay functionality to the user.
doi:10.1109/icorr.2007.4428477 fatcat:tufofvboh5a6rjq32psx7wix2a