ProVAR Assistive Robot System Architecture

This paper describes the implementation of a robot control architecture designed to combine a manipulation task design environment with a motion controller that uses the Operational Space formulation to define and implement arm trajectories and object manipulation. The ProVAR desktop manipulation system is an assistive robot for individuals with a severe physical disability such as quadriplegia as a result of a high-level spinal cord injury. Pro VAR allows non-technical operators access to the robot’s capabilities through a directmanipulation simulatiodpreview user interface. The novel interface concept is based on two built-in characters (Jiminey and Pinocchio) to play the roles of helpful consultant and down-to-earth robot arm. This team-based interface concept was chosen to maximize user performance and comfort in controlling the inherently complex mechatronic technologv. This paper describes our design decisions and rationale.