Six-DOF Sensory System for Interactive Positioning and Motion Control in Rehabilitation Robotics

Six-DOF Sensory System for Interactive Positioning and Motion Control in Rehabilitation Robotics

  This paper introduces the utilization of a six-DOF modular, optics-based sensory system for the measurements of axial shiftings and angular displacements in rehabilitation robotics. This is done by means of a 2-D or annular CCD array, or a set of PSD elements creating the basis, and four laser diode light rays or planes that define the edges of a pyramid. The algorithm for the computation of three axial shiftings and three angular displacements is based on the inverse transformation in order to determine the relative location and orientation of a floating 2-D coordinate system against a fixed 3-D coordinate system. The applications of fine positioning of the multi-pod"s parallel structures in robotics aided therapy, and the head joystick for the control and positioning of a wheelchair are presented.