The Spartacus Telethesis : Manipulator Control Studies A

This paper describes a method and an experimental system permitting a severely handicapped operator, such as a quadriplegic, to control a telenianipulator . These developments form the first phase in the design of the Spartacus "telethesis" . This is a manipulator system specifically developed for a quadriplegic person. Manipulator control experiments which are discussed concern four quadriplegics who have used the experimental system for significant periods of time . The present system is a laboratory simulation of a telethesis, consisting of an industrial manipulator controlled by a mini-computer . A flexible semi-sequential control and a variety of transducers permit the system to be adapted to the individual user.