Anthropomorphism in Robotics Engineering for Disabled People
In its attempt to offer new ways into autonomy for a
large population of disabled people, assistive technology has largely
been inspired by robotics engineering. Recent human-like robots
carry new hopes that it seems to us necessary to analyze by means of
a specific theory of anthropomorphism. We propose to distinguish a
functional anthropomorphism which is the one of actual wheelchairs
from a structural anthropomorphism based on a mimicking of human
physiological systems. If functional anthropomorphism offers the
main advantage of eliminating the physiological systems
interdependence issue, the highly link between the robot for disabled
people and their human-built environment would lead to privilege in
the future the anthropomorphic structural way. In this future
framework, we highlight a general interdependence principle : any
partial or local structural anthropomorphism generates new
anthropomorphic needs due to the physiological systems
interdependency, whose effects can be evaluated by means of
specific anthropomorphic criterions derived from a set theory-based
approach of physiological systems.
[1] Jackson R.D., "Robotics and its Role in Helping Disabled People",
Engineering Science and Educational Journal, December, 1993, pp. 267-
272.
[2] Bolmsjö G., Neveryd H. and Eftring H., "Robotics in Rehabilitation",
IEEE Transactions on Rehabilitation Engineering, Vol. 3, N┬░1, 1995, pp.
77-83.
[3] Kuman V., Rahman T. and Krovi V., "Assistive Devices for People with
Motor Disabilities" in Encyclopedia of Electrical and Electronics
Engineering, J.G.Webster Ed., Wiley, New-York, 1999.
[4] Abdulrazak B. and Mokhtari M., "Assistive Robotics for Independent
Living" in Smart Technology for Aging, Disability and Independence:
Computing and Engineering Design and Applications, Wiley, New-York,
2008, Chap. 19, pp. 335-374.
[5] Friedland M.T., "Not Disabled Enough: The ADA-s ÔÇÿMajor Life Activity-
Definition of Disability", Stanford Law Review, Vol. 52, 1999, pp. 171-
203.
[6] Yearwood A.C., "Being Disabled Doesn-t Mean Being Handicapped",
American Journal of Nursing, Februray 1980, Vol. 80, N┬░2, pp. 299-302.
[7] DiSalvo C., Gemperle F. and Forlizi J., "Imitating the Human Form: Four
Kinds of Anthropomorphic Form", on-line free document, web site of
Carnegie Mellon School of Design.
[8] DiSalvo C. and Gemperle F., "From Seduction to Fulfillment: The Use of
Anthropomorphic Form in Design", on-line free document, web site of
Carnegie Mellon School of Design.
[9] Mesarovic M.D., "Auxiliary Functions and Constructive Specification of a
General Systems", Math. Systems Theory, Vol.2, N┬░3, 1968, pp. 203-222.
[10] Mesarovic M.D., "Towards the Development of a General Systems
Theory", Neue Technik Abteilung A : Automatik und Industrielle
Elektronik, Vol.5, N┬░7, 1963, pp.370-377.
[11] Tondu B., "Towards a Anthropomorphism Theory for Human-like
Machines based on Systems Science", Proc. of the 6th WSEAS Int. Conf.
on Systems Science and Simulation in Engineering, Nov. 2007, pp. 399-
405.
[12] Morecki A., Ekiel J. and Fidelus K., Bionika Ruchu (Bionics of
Movement), PWN, Warsaw, 1976, cited in Zatsiorsky V.M. Kinematics of
Human Motion, Human Kinetics, 1998 (page 110).
[13] Morecki A., "Should an Industrial Robot be a more Anthropomorphic
System in the Future that it is now ?", Proc. of the 6th ISIR, Nottingham,
England, 1976.
[14] Tondu B., "Shoulder Complex Mobility Estimation", Applied Bionics and
Biomechanics, Vol. 4, N┬░1, 2007, pp. 19-29.
[15] Web site of Exactdynamics, www.exactdynamics.ntl .
[16] Oderud T., Bastiansen J.E. and Tyvand S., "Experiences with the
MANUS Wheelchair Mounted Manipulator", Proc. of the 2nd Eur. Conf.
on the Adv. of Rehabilitation Technology (ECART), Stockholm, 1993, p.
29.1.
[17] Abdulrazak B., Grandjean B. and Mokhtari M., "Towards a New High
Level Controller for MANUS Robot", Proc. of the Int. Conf. on
Rehabilitation Robotics (ICORR), Paris, 2001, pp. 221-226.
[18] Tondu B., "Theory of Anthropomorphism for Human-like Machines",
Internal Report, University of Toulouse, France, 2007.
[19] Jazrawi L.M., Rokito A.S., Birdzell M.G. and Zuckerman J.D.,
"Biomechanics of the Elbow", Chap. 13 in Della Valle C.J., Nordin M.
and Frankel V.H., Basic Biomechanics of the Musculoskeletal System, 3rd
Ed., Lippincott Williams & Wilkins, Philaddelphia, 2001, pp. 340-357.
[20] Kapandji I.A., The Physiology of the Joints, Vol.1,Upper Limb, 6th Ed.,
2007, Vol.2. Lower Limb, 5th Ed., 1988, Vol.3. The Trunk and the
Vertebral Column, 2nd Ed., 1974, Churchill Livingstone Editor.
[21] Tondu B., "Artificial Muscles for Humanoid Robots", Chap. 5 in
Humanoid Robots-Human like Machines, Advanced Robotics books,
Vienna, Austria, 2007, pp. 90-122.
[22] Web site of the Rehabilitation Institute of Chicago, www.ric.org (see
Bionic Arm).
[23] McGrath B., "Muscle Memory", The New Yorker, 2007, July 30.
[24] Rebsamen B., Burdet E., Guan C., Teo C.L., Zeng Q., Laugier C. and
Ang M., "Navigation Ones Wheelchair in a Building by Thought", IEEE
Intelligent Systems, Vol. 22, 2007, pp. 18-24.
[25] Sawatsky B., "Wheeling in the New Millenium : The history of the
wheelchair and the driving force of the wheelchair design of today", online
free document, web site www.wheelchairnet.org, 2002.
[26] Prassler E., Scholz J. and Fiorini P., "A Robotic Wheelchair for Crowned
Public Environments", IEEE Robotics and Automation Magazine, March
2001, pp.38-45.
[27] Simpson R.C., "Smart Wheelchairs : A literature Review", Journal of
Rehabilitation Research and Development, Vol. 42, N┬░4, 2005, pp. 423-
436.
[28] Zeng Q., Teo C.L., Rebsamen B. and Burdet E., "A Collaborative
Wheelchair System", IEEE Transactions on Neural Systems and
Rehabilitation Engineering, Vol. 16, N┬░ 2, 2008, pp. 161-170.
[29] Gonzalez J., Muaeoz A.J., Galindo C., Fernandez-Madrigal J.A. and
Blanco J.L., "A Description of the SENA Robotic Wheelchair", Proc. of
the IEEE MELECON Conf., Benalmadena, Spain, 2006, pp. 437-440.
[30] Sugahara Y. and Hashimoto K., "Towards the Biped Walking
Wheelchair", Proc. of 1st IEEE/RAS-EMBS Int. Conf. on Biomedical
Robotics and Biomechatronics (BioRob 2006), Pisa, Italy, 2006, paper n┬░
289.
[31] Tang J., Zhao Q. and Huang J., "Application of ÔÇÿHuman-In-the-Loop-
Control to a Biped Walking-Chair Robot", Proc. of the 2007 Int. Conf. on
Systems, Man and Cybernetics, 2007, pp. 2431-2436.
[32] Hirai K., Hirose M., Haikawa Y., Takenaka T., "The Development of the
Honda Humanoid Robot", Proc. of the 1998 IEEE Int. Conf. on Robotics
& Automation, Leuven, Belgium, 1998, pp. 1321-1326.
[33] Sakagami Y., Watanabe R., Aoyama C., Matsunaga S., Higaki N. and
Fujimura K., "The Intelligent ASIMO: System Overview and
Integration", Proc. of the 2002 IEEE/RSJ Conf., Lausanne, 2002, pp.
2478-2483.
[34] Arnott J.L., "Intelligent Systems and Disability - The Research
Challenge", Proc. of the 1995 Int. Conf. on Systems, Man and
Cybernetics, 1995, pp. 2390-2395.
[1] Jackson R.D., "Robotics and its Role in Helping Disabled People",
Engineering Science and Educational Journal, December, 1993, pp. 267-
272.
[2] Bolmsjö G., Neveryd H. and Eftring H., "Robotics in Rehabilitation",
IEEE Transactions on Rehabilitation Engineering, Vol. 3, N┬░1, 1995, pp.
77-83.
[3] Kuman V., Rahman T. and Krovi V., "Assistive Devices for People with
Motor Disabilities" in Encyclopedia of Electrical and Electronics
Engineering, J.G.Webster Ed., Wiley, New-York, 1999.
[4] Abdulrazak B. and Mokhtari M., "Assistive Robotics for Independent
Living" in Smart Technology for Aging, Disability and Independence:
Computing and Engineering Design and Applications, Wiley, New-York,
2008, Chap. 19, pp. 335-374.
[5] Friedland M.T., "Not Disabled Enough: The ADA-s ÔÇÿMajor Life Activity-
Definition of Disability", Stanford Law Review, Vol. 52, 1999, pp. 171-
203.
[6] Yearwood A.C., "Being Disabled Doesn-t Mean Being Handicapped",
American Journal of Nursing, Februray 1980, Vol. 80, N┬░2, pp. 299-302.
[7] DiSalvo C., Gemperle F. and Forlizi J., "Imitating the Human Form: Four
Kinds of Anthropomorphic Form", on-line free document, web site of
Carnegie Mellon School of Design.
[8] DiSalvo C. and Gemperle F., "From Seduction to Fulfillment: The Use of
Anthropomorphic Form in Design", on-line free document, web site of
Carnegie Mellon School of Design.
[9] Mesarovic M.D., "Auxiliary Functions and Constructive Specification of a
General Systems", Math. Systems Theory, Vol.2, N┬░3, 1968, pp. 203-222.
[10] Mesarovic M.D., "Towards the Development of a General Systems
Theory", Neue Technik Abteilung A : Automatik und Industrielle
Elektronik, Vol.5, N┬░7, 1963, pp.370-377.
[11] Tondu B., "Towards a Anthropomorphism Theory for Human-like
Machines based on Systems Science", Proc. of the 6th WSEAS Int. Conf.
on Systems Science and Simulation in Engineering, Nov. 2007, pp. 399-
405.
[12] Morecki A., Ekiel J. and Fidelus K., Bionika Ruchu (Bionics of
Movement), PWN, Warsaw, 1976, cited in Zatsiorsky V.M. Kinematics of
Human Motion, Human Kinetics, 1998 (page 110).
[13] Morecki A., "Should an Industrial Robot be a more Anthropomorphic
System in the Future that it is now ?", Proc. of the 6th ISIR, Nottingham,
England, 1976.
[14] Tondu B., "Shoulder Complex Mobility Estimation", Applied Bionics and
Biomechanics, Vol. 4, N┬░1, 2007, pp. 19-29.
[15] Web site of Exactdynamics, www.exactdynamics.ntl .
[16] Oderud T., Bastiansen J.E. and Tyvand S., "Experiences with the
MANUS Wheelchair Mounted Manipulator", Proc. of the 2nd Eur. Conf.
on the Adv. of Rehabilitation Technology (ECART), Stockholm, 1993, p.
29.1.
[17] Abdulrazak B., Grandjean B. and Mokhtari M., "Towards a New High
Level Controller for MANUS Robot", Proc. of the Int. Conf. on
Rehabilitation Robotics (ICORR), Paris, 2001, pp. 221-226.
[18] Tondu B., "Theory of Anthropomorphism for Human-like Machines",
Internal Report, University of Toulouse, France, 2007.
[19] Jazrawi L.M., Rokito A.S., Birdzell M.G. and Zuckerman J.D.,
"Biomechanics of the Elbow", Chap. 13 in Della Valle C.J., Nordin M.
and Frankel V.H., Basic Biomechanics of the Musculoskeletal System, 3rd
Ed., Lippincott Williams & Wilkins, Philaddelphia, 2001, pp. 340-357.
[20] Kapandji I.A., The Physiology of the Joints, Vol.1,Upper Limb, 6th Ed.,
2007, Vol.2. Lower Limb, 5th Ed., 1988, Vol.3. The Trunk and the
Vertebral Column, 2nd Ed., 1974, Churchill Livingstone Editor.
[21] Tondu B., "Artificial Muscles for Humanoid Robots", Chap. 5 in
Humanoid Robots-Human like Machines, Advanced Robotics books,
Vienna, Austria, 2007, pp. 90-122.
[22] Web site of the Rehabilitation Institute of Chicago, www.ric.org (see
Bionic Arm).
[23] McGrath B., "Muscle Memory", The New Yorker, 2007, July 30.
[24] Rebsamen B., Burdet E., Guan C., Teo C.L., Zeng Q., Laugier C. and
Ang M., "Navigation Ones Wheelchair in a Building by Thought", IEEE
Intelligent Systems, Vol. 22, 2007, pp. 18-24.
[25] Sawatsky B., "Wheeling in the New Millenium : The history of the
wheelchair and the driving force of the wheelchair design of today", online
free document, web site www.wheelchairnet.org, 2002.
[26] Prassler E., Scholz J. and Fiorini P., "A Robotic Wheelchair for Crowned
Public Environments", IEEE Robotics and Automation Magazine, March
2001, pp.38-45.
[27] Simpson R.C., "Smart Wheelchairs : A literature Review", Journal of
Rehabilitation Research and Development, Vol. 42, N┬░4, 2005, pp. 423-
436.
[28] Zeng Q., Teo C.L., Rebsamen B. and Burdet E., "A Collaborative
Wheelchair System", IEEE Transactions on Neural Systems and
Rehabilitation Engineering, Vol. 16, N┬░ 2, 2008, pp. 161-170.
[29] Gonzalez J., Muaeoz A.J., Galindo C., Fernandez-Madrigal J.A. and
Blanco J.L., "A Description of the SENA Robotic Wheelchair", Proc. of
the IEEE MELECON Conf., Benalmadena, Spain, 2006, pp. 437-440.
[30] Sugahara Y. and Hashimoto K., "Towards the Biped Walking
Wheelchair", Proc. of 1st IEEE/RAS-EMBS Int. Conf. on Biomedical
Robotics and Biomechatronics (BioRob 2006), Pisa, Italy, 2006, paper n┬░
289.
[31] Tang J., Zhao Q. and Huang J., "Application of ÔÇÿHuman-In-the-Loop-
Control to a Biped Walking-Chair Robot", Proc. of the 2007 Int. Conf. on
Systems, Man and Cybernetics, 2007, pp. 2431-2436.
[32] Hirai K., Hirose M., Haikawa Y., Takenaka T., "The Development of the
Honda Humanoid Robot", Proc. of the 1998 IEEE Int. Conf. on Robotics
& Automation, Leuven, Belgium, 1998, pp. 1321-1326.
[33] Sakagami Y., Watanabe R., Aoyama C., Matsunaga S., Higaki N. and
Fujimura K., "The Intelligent ASIMO: System Overview and
Integration", Proc. of the 2002 IEEE/RSJ Conf., Lausanne, 2002, pp.
2478-2483.
[34] Arnott J.L., "Intelligent Systems and Disability - The Research
Challenge", Proc. of the 1995 Int. Conf. on Systems, Man and
Cybernetics, 1995, pp. 2390-2395.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:56200", author = "B. Tondu and N. Bardou", title = "Anthropomorphism in Robotics Engineering for Disabled People", abstract = "In its attempt to offer new ways into autonomy for a
large population of disabled people, assistive technology has largely
been inspired by robotics engineering. Recent human-like robots
carry new hopes that it seems to us necessary to analyze by means of
a specific theory of anthropomorphism. We propose to distinguish a
functional anthropomorphism which is the one of actual wheelchairs
from a structural anthropomorphism based on a mimicking of human
physiological systems. If functional anthropomorphism offers the
main advantage of eliminating the physiological systems
interdependence issue, the highly link between the robot for disabled
people and their human-built environment would lead to privilege in
the future the anthropomorphic structural way. In this future
framework, we highlight a general interdependence principle : any
partial or local structural anthropomorphism generates new
anthropomorphic needs due to the physiological systems
interdependency, whose effects can be evaluated by means of
specific anthropomorphic criterions derived from a set theory-based
approach of physiological systems.", keywords = "Anthropomorphism, Human-like machines, Systemstheory, Disability.", volume = "3", number = "4", pages = "376-10", }
