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Task Execution with the Rehabilitation Robotic System FRIEND Ⅱ in Intelligent Home Environment
O,Prenzel,J,Feuser,I,Volosyak,O,Ivlev,A,Graser 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.2
Rehabilitation robots (e.g. FRIEND as intelligent wheelchair mounted manipulator) are being developed to gain their user"s autonomy within daily life or working environments. To prevent a high cognitive load onto the user, task input on a high level of abstraction is mandatory. State-of-the-art rehabilitation robots are still not capable to integrate fragments of intelligent behavior into an overall context and to solve complex tasks.<BR> A basic problem is how to cope with system complexity as well as computational complexity that evolve during task planning. A compromise towards feasibility is to equip the system as well as its environment with smart components that provide own intelligence and thus reduce the complexity of the robotic system. However, a structured approach is necessary to fuse the distributed intelligence. This contribution is based on current conference publications which focused either on the advances in the hardware components [1] respectively the software concept [2] of the rehabilitation robotic system FRIEND Ⅱ. This article gives complete overview in conjunction with recent details.