The newest generation rehabilitation robot FRIEND III is the successor of the FRIEND I/FRIEND II system. The basic component of FRIEND III is the commercial wheelchair with a mounted lightweight robot arm. Additionally the system is provided with a tactile skin and a scale (both combined in the wheelchair tray), a stereo camera system, a computer system, a force torque sensor and a hand prosthesis. The latter onces are mounted to the last joint of the robot arm.
The long term goal of the overall project is the support of disabled people at activities of daily living (ADL). To reach this goal a software framework was developed that introduces a modiefied hybrid multilayer-architecture to process semi-autonomous tasks.