M.S. Sarkar (USA)
Command processor, transformation languages, TXL
This paper presents a new semi-autonomous human-robot interaction concept for people with severe disability and discusses a proof-of-concept prototype system. The user communicates with the robot through electromyographic (EMG) signals. However, unlike most EMG controlled robotic operations, here the user can issue high-level commands to the robot. This would allow people with severe disability to access robots that can help them in activities of daily living. This paper describes the high level command processor that translates high-level commands issued by a disabled user to perform certain activities of daily living (ADL), into a sequence of lower level commands that are executable by a robot. The command processor is implemented using TXL (Tree Transformation Language).
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