Rehabilitation and Health Care Robotics 53.3 Aids for People with Disabilities 1237 ers to and from appliances such as refrigerators and ovens [53.113].With an integrated control system,it can also make use of the internal controls of the devices to,for example,set cooking times and open doors. The UK-developed Handy-1 is a domestic robot with three degrees of freedom designed for one-switch oper- ation by persons with cerebral palsy [53.17].Originally designed to allow a person to eat a meal one bite at a time,its application areas have been extended to face hygiene and cosmetics.A commercial product selling for about US$6000,it has been a commercial success due to its simplicity and application focus.An even sim- pler feeding robot,the UK's electric Neater Eater [53.8] is on sale worldwide at about US$5000,and is designed for eating only. While a robot conventionally connotes a stand-alone system with some automation features,a smart bed and a smart home can legitimately be termed robots since they sense and act with motors under the shared control of its human users and its real-time software program- ming.Smart beds such as SleepSmart measures body position and temperature,as well as trends and anoma- Part F lies over the course of a night.Restlessness can be measured,and bed geometry (tilt of bed segments)and 53.3 ambient conditions (light,temperature,sounds)can be adjusted according to presets and preferences [53.114]. Smart homes,such as the domotic environment at Georgia Tech,NL-iRV,and the University of Tokyo [53.115],provide integrated climate,security, lighting.entertainment,and transport assistance,which is enabling especially to persons with severe functional Fig.53.3a-c Workstation-type robots:(a)AfMaster,developed by disabilities.Coupled with health-care-related function- the French Muscular Dystrophy Association,(b)ProVAR,developed ality (see the next section),these robotic homes can at the VA Palo Alto Rehabilitation R&D Center,and(c)Handy-1, allow a person with a cognitive or physical disability developed by RehabRobotics,Ltd.(UK) to control many ADL functions and live safely through monitoring by a physician and that is reimbursed by a government health care system. Manipulation Aids: Wheelchair Manipulator Arm Systems Manipulation Aids: A need for electric wheelchair users is the manipulation Mobile Autonomous Systems of objects while navigating a home or a public place such The most commonly conceived form of a robot is that as a restaurant or grocery store.The assistive robot ser- of an autonomous,mobile system with arms,having vice manipulator(ARM,Exact Dynamics,Netherlands)sensorimotor functionality similar to that of a human -previously known as MANUS-is a commercial robot being,while serving people in performing menial phys- arm that can be attached to an existing wheelchair to the ical tasks.Chapter 56 of this Handbook explores the side of the lap tray and controlled by the wheelchair's domain as well.Since locomotion is a key requirement own joystick or a number pad [53.19,116](Fig.53.4). for humanoid robotics,other robots with wheeled bases The robot has undergone numerous user studies with per-have been developed before the first walking robots were sons who have muscular dystrophy,a high-level SCI,or invented to explore more applied domains with more cerebral palsy.Worldwide,this is currently the only com- short-term usefulness.In film,robots such as Star Wars' mercial rehabilitation robot arm that can be prescribed R2D2 have made this form factor commonly knownRehabilitation and Health Care Robotics 53.3 Aids for People with Disabilities 1237 ers to and from appliances such as refrigerators and ovens [53.113]. With an integrated control system, it can also make use of the internal controls of the devices to, for example, set cooking times and open doors. The UK-developed Handy-1 is a domestic robot with three degrees of freedom designed for one-switch oper￾ation by persons with cerebral palsy [53.17]. Originally designed to allow a person to eat a meal one bite at a time, its application areas have been extended to face hygiene and cosmetics. A commercial product selling for about US$ 6000, it has been a commercial success due to its simplicity and application focus. An even sim￾pler feeding robot, the UK’s electric Neater Eater [53.8] is on sale worldwide at about US$ 5000, and is designed for eating only. While a robot conventionally connotes a stand-alone system with some automation features, a smart bed and a smart home can legitimately be termed robots since they sense and act with motors under the shared control of its human users and its real-time software program￾ming. Smart beds such as SleepSmart measures body position and temperature, as well as trends and anoma￾lies over the course of a night. Restlessness can be measured, and bed geometry (tilt of bed segments) and ambient conditions (light, temperature, sounds) can be adjusted according to presets and preferences [53.114]. Smart homes, such as the domotic environment at Georgia Tech, NL-iRV, and the University of Tokyo [53.115], provide integrated climate, security, lighting, entertainment, and transport assistance, which is enabling especially to persons with severe functional disabilities. Coupled with health-care-related function￾ality (see the next section), these robotic homes can allow a person with a cognitive or physical disability to control many ADL functions and live safely through monitoring. Manipulation Aids: Wheelchair Manipulator Arm Systems A need for electric wheelchair users is the manipulation of objects while navigating a home or a public place such as a restaurant or grocery store. The assistive robot ser￾vice manipulator (ARM, Exact Dynamics, Netherlands) – previously known as MANUS – is a commercial robot arm that can be attached to an existing wheelchair to the side of the lap tray and controlled by the wheelchair’s own joystick or a number pad [53.19, 116] (Fig. 53.4). The robot has undergone numerous user studies with per￾sons who have muscular dystrophy, a high-level SCI, or cerebral palsy. Worldwide, this is currently the only com￾mercial rehabilitation robot arm that can be prescribed a) b) c) Fig. 53.3a–c Workstation-type robots: (a) AfMaster, developed by the French Muscular Dystrophy Association, (b) ProVAR, developed at the VA Palo Alto Rehabilitation R&D Center, and (c) Handy-1, developed by RehabRobotics, Ltd. (UK) by a physician and that is reimbursed by a government health care system. Manipulation Aids: Mobile Autonomous Systems The most commonly conceived form of a robot is that of an autonomous, mobile system with arms, having sensorimotor functionality similar to that of a human being, while serving people in performing menial phys￾ical tasks. Chapter 56 of this Handbook explores the domain as well. Since locomotion is a key requirement for humanoid robotics, other robots with wheeled bases have been developed before the first walking robots were invented to explore more applied domains with more short-term usefulness. In film, robots such as Star Wars’ R2D2 have made this form factor commonly known Part F 53.3