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Design and development of the personal mobility and manipulation appliance

Grindle, GG and Wang, H and Salatin, BA and Vazquez, JJ and Cooper, RA (2011) Design and development of the personal mobility and manipulation appliance. Assistive Technology, 23 (2). 81 - 92. ISSN 1040-0435

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For people with significant mobility impairments who also have both lower and upper limb disability, there are few technology solutions. The aim of this article is to describe the design and development of the Personal Mobility and Manipulation Appliance, a device that provides coordinated mobility and bimanual manipulation for people with both lower and upper limb impairment. The Personal Mobility and Manipulation Appliance is integrated from several commercial products and custom technologies, including two robotic arms mounted on a mobile robotic base. It has three primary operating modes: local user, remote user, and autonomous. It also has a cooperative control mode where two or more of the primary modes can be used simultaneously. The device was evaluated in a kitchen and was able to perform several complex tasks. Future work should focus on interface improvements and evaluations by end users. © 2011 RESNA.


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Item Type: Article
Status: Published
CreatorsEmailPitt UsernameORCID
Grindle, GGggg3@pitt.eduGGG3
Wang, Hhow11@pitt.eduHOW11
Salatin, BA
Vazquez, JJ
Centers: Other Centers, Institutes, Offices, or Units > Human Engineering Research Laboratories
Date: 1 June 2011
Date Type: Publication
Journal or Publication Title: Assistive Technology
Volume: 23
Number: 2
Page Range: 81 - 92
DOI or Unique Handle: 10.1080/10400435.2011.567374
Schools and Programs: School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed: Yes
ISSN: 1040-0435
Date Deposited: 02 Nov 2012 21:05
Last Modified: 02 Feb 2019 16:58


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