was a milestone project in many respects. The technology em- augmentation. Two researchers7 computerized the Golden Arm ployed and the concept of computer-augmented manipulation to provide coordinated joint displacement and proportional con- were not to achieve comparable sophistication for more than 10 trol while others8 studied the feasibility of using a computer to years (see Table 1). adaptively aid the user in controlling the manipulator. However, The Rancho Los Amigos Golden Arm was designed as an or- these efforts could not overcome the inherent limitations of an thosis with seven degrees of freedom.6 It followed the design orthosis that attempted to animate the paralyzed human arm. philosophy of the Case system but did not incorporate any com- Remote manipulators In the late '60s and early '70s, work be- puter augmentation. Direct current servo motors were used at gan with manipulators that were not attached to the user, making each point and were individually controlled by a variety of switch no pretext of being limb replacements. This approach gave the arrays. Several similar versions of this system were built; one ver- designer freedom to follow the dictates of efficient machine de- sion was wheelchair mounted and battery powered. sign for computer control. Extensive clinical trials with the Golden Arm confirmed that Researchers at the University of Heidelberg, Germany9 were joint-specific control was not feasible. This finding confirmed re- the first to use an industrial manipulator and a highly structured sults from the Case group and underlined the need for computer work environment. The electromechanical manipulator had five A SAFEployment Disabple in tIh Lao Market Progras InvstentoyAd onain aoAt,Clfri i~~~$ 4i,50 + acs to8,1 a $14,530ety $334,644lfat a $500.tA i 0 ;: f I tf 00; fl0fle)F0suchipro~~~~pgrams. Te real v 4 ted ihi e the huma vleousgtc lg to increatienalhenreducn inwelfare support a: federal and state taxes f :I0ef them dsaledpers oteNatina Independen e, self-Hesteem andl are000 et;00;0000 fimted:\ fr one yea; senor aid equimen cost are d00X00:0:00 WVpride In prdct iv2ty;0;X000Oct re ipr focu o hm 4a8- computed for2. e p f all welfare subsidy ceases at 0278-005418210400-0019 $00.75KC 19821EEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE DECEMBER 1982 19

The Economics of Placing the Disabled in the Labor Market

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Page 1: The Economics of Placing the Disabled in the Labor Market

were not to achieve comparable sophistication for more than 10 trol while others8 studied the feasibility of using a computer toyears (see Table 1). adaptively aid the user in controlling the manipulator. However,The Rancho Los Amigos Golden Arm was designed as an or- these efforts could not overcome the inherent limitations of an

thosis with seven degrees of freedom.6 It followed the design orthosis that attempted to animate the paralyzed human arm.

philosophy of the Case system but did not incorporate any com- Remote manipulators In the late '60s and early '70s, work be-puter augmentation. Direct current servo motors were used at gan with manipulators that were not attached to the user, makingeach point and were individually controlled by a variety of switch no pretext of being limb replacements. This approach gave thearrays. Several similar versions of this system were built; one ver- designer freedom to follow the dictates of efficient machine de-sion was wheelchair mounted and battery powered. sign for computer control.

Extensive clinical trials with the Golden Arm confirmed that Researchers at the University of Heidelberg, Germany9 were

joint-specific control was not feasible. This finding confirmed re- the first to use an industrial manipulator and a highly structuredsults from the Case group and underlined the need for computer work environment. The electromechanical manipulator had five

A SAFEployment Disabple intIh Lao Market

Progras InvstentoyAd onain aoAt,Clfri

i~~~$ 4i,50+ acsto8,1 a$14,530ety$334,644lfat a $500.tA

i 0 ;: f I tf 00; fl0fle)F0suchipro~~~~pgrams. Te real v 4tedihi e the huma vleousgtc lg to increatienalhenreducn inwelfaresupport a: federal and state taxes

f :I0efthemdsaledpersoteNatinaIndependen e, self-Hesteem andl are000et;00;0000fimted:\ fr one yea; senor aid equimen cost ared00X00:0:00

WVpride In prdct iv2ty;0;X000Octre ipr focu o hm 4a8- computed for2.e p f all welfare subsidy ceases at

0278-005418210400-0019 $00.75KC 19821EEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE DECEMBER 1982 19