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The Laboratories
The Applied Science and Engineering Laboratories endeavors to help individuals
with disabilities gain the full benefit of new technologies. This page describes
many of the projects in our Laboratories right now.
Signal Processing Techniques for Tremor Suppres
sion:
A system that suppresses the effects of hand/arm tremor for persons with this
type of disability. The system is based on adaptive equalizers designed
to attenuate the frequency components of the tremor signal while keeping
the intentional movement as intact as possible.
Enhanced Sensory Feedback C
ontrol of an Assistive Robot:
For individuals with upper-extremity motor disabilities, a head-stick is
a simple and intuitive means of performing manipulations because it provides
direct proprioceptive information to the user. An interface to a robot system
which emulates the proprioceptive qualities of a traditional head-stick
while also allowing for augmented end-effector ranges of force and motion
is being developed and tested.
Powered Robotic Orthoses for People w
ith Muscular Dystrophy:
The powered orthosis is designed to allow people with muscular dystrophy,
muscular atrophy or ALS (Lou Gehrig's disease) to move their arms. In this
project, an anti-gravity device designed for use in an orthosis has been
developed.
Vocational Robotic Workcell:
The Vocational Robotics project
focuses on evaluating the role that robotics can play in helping to expand
employment opportunities for individuals with manipulation disabilities.
The three components of the project are assessment and training, system
integration, and job identification and analysis. The assessment and training
component of the project is in conjunction with the Easter Seals Society
of DelMar.
Multimodal User Supervised Interface and Intelligent
Control (MUSIIC)
:
A robot arm is controlled by voice commands integrated with gestures (pointing
with a laser) to pick up and move objects in the robot's work space. Such
a system enables the user to give commands like ``Put that [points to object]
there [points to destination]'' to move objects in the environment. Stereo
vision is used to locate objects and places that are indicated by the spot
of laser light. An intelligent planning system interprets the voice commands
and directs the robot's actions.
Rapid Prototyping for Rehabilitation Devices:
An application will be demonstrated which allows virtual prototyping of linkages
in JACK
by generating fully articulated geometric models of manipulators from user
input DH-Parameters. The user is able to interactively alter the DH-Parameters
and instantly see the results of their alteration in JACK. In addition to
the automatic generation of DH models, the application allows both joint
based and Cartesian based control of the models via a Spaceball interface
device.
Consumer Innovation - Autovac, a robotic
vacuum cleaner:
The AutoVac project, as part of ASEL's consumer innovation laboratory, was
inspired by and is directed by consumers who are full members of design
teams. The goal of the laboratory is to involve consumers in the design
of new products and devices with the expectation that items produced will
be better suited to the needs and abilities of people who may have some
physical limitations. The prototype vacuum cleaner unit is directly controlled
by the user by wireless remote control; radio equipment is used to control
direction, speed, and independent switching of the vacuum motor and rotating
brush motor. The unit is battery operated, and can clean for approximately
1 hour before recharging is necessary. A "docking station" has
been developed to provide accessible recharging. The unit is intended for
home use, and its cleaning performance is comparable with conventional consumer-
level
units.
A Body Powered Rehabilitation Robot
:
A gravity balanced,
mechanical arm is currently under development. Such an arm, whose end-point
(gripper) is controlled and powered by a functional body part of the user
offers an intuitive means for a person with no arm function to interact
with the environment.
Haptic Visualization fo
r Science Engineering and Math:
The PHANToM Haptic Interface is a novel 3 degree of freedom force feedback
device that allows the user to feel virtual environments with a fingertip.
A method of feeling 2 and 3 dimensional data sets is being developed.
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Computerized speech assessment:
assessing the speech of childrenngology, assists clinicians in
clinicians evaluatioatient along with complete information about the
Clinical applications of speech gning advanced software to
sensitive mean Markov Modeling (HMM) is being used to developchniqueed
in an augmentative communication device which automatically ssment and
Nemours Dysarthric Speech Database: To aid basic research into speech from dysarthric talkers. The database ieloped a database ofp in
examples of all the speech materials recibility of the speech,ase are
Text-to-speech synthesis: The goal of this work is to produce ndescribes how the text would be pronounced by an Enscript" whichwith
is then synthesized from the phonetiche text. Natural sounding speech
Speaker modeling through automatic extraction of diphones: Becarelatively easy to record and "capture" the voicct will make ite real
process of loosing their voicerve the voice of someone who is in theor
due to illness.
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Neural Network Recognition of Gesture:
CyberGloves and
Ascension Bird sensors are used to input the biomechanical data. CyberGloves
transmit joint angle data; they represent handshapes as a set of eighteen
numbers. Each Bird sensor tells the computer where it is with respect to
a transmitter. This information is used to know where the Birds are with
respect to each other. A user-dependent fingerspelling recognizer has been
developed, which has achieved over 96% accuracy. The neural networks was
tested on novel instances of fingerspelling from those on which they were
trained. The nets have about 60% accuracy when tested on other people's
data.
Sign Language Synthesis:
Work on sign synthesis for American
Sign Language (ASL) is currently in progress. A 3-D virtual signer has been
developed. She can be "driven" by CyberGlove and Bird data, by
recordings of such data, or by phonetic descriptions. A system of phonetic
descriptions of ASL signs loosely based on Liddell and Johnson's sign language
decomposition analysis have been developed. The virtual signer now has a
"vocabulary" of over 100 signs. She has her own distinct "accent,"
but she is intelligible.
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Virtual Interaction: Virtual Interaction is a low immersion
virtual reality system intended to provide recreation and exercise for individuals
with disabilities. The users live video image becomes part of a computer
generated display. The users image can manipulate the graphical objects
around it so the user essentially becomes part of a computer game. This
system is engaging but unlike video games, requires more physical activity
than a few finger movements. Applications for this technology can be adapted
to emphasize or compensate for the abilities of a particular individual.
Several program have been written and will be used to demonstrate the technology.
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Vestibular Stimulation: This research project is investigating
the effect of vertical motion on children with cerebral palsy. A pilot study
was done where 10 subjects were tested before and after riding on a platform
that moves up and down in a similar motion to a trotting horse. Results
indicated that there may have been a decrease in lower extremity spasticity
following 15 minutes of up and down motion in a majority of the subjects
tested. Present research continues to investigate the effects of vertical
motion. There will be at least 30 subjects tested. Spasticity as well as
balance, and respiratory effects are being tested.
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URL of this document: http://www.asel.udel.edu/about/labtour.html
Last updated: September 16, 1996
Copyright © Applied Science and Engineering Laboratories, 1996.
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