scholarly journals Development and evaluation of demonstration information recording approach for wheelchair mounted robotic arm

2021 ◽  
Author(s):  
Mingshan Chi ◽  
Yaxin Liu ◽  
Yufeng Yao ◽  
Yan Liu ◽  
Shouqiang Li ◽  
...  
Keyword(s):  
Daily Living ◽  
High Efficiency ◽  
The Elderly ◽  
Robotic Arm ◽  
Programming By Demonstration ◽  
Systematic Analysis ◽  
Evaluation Approach ◽  
Operation Process ◽  
Assistive Robot ◽  
Wheelchair Mounted Robotic Arm

AbstractTo offer simple and convenient assistance for the elderly and disabled, researchers focus on programming by demonstration approach to improve the intelligence and adaptability of wheelchair mounted robotic arm assistive robot. But how to easily and quickly obtain the demonstration information is still an urgent problem to be solved. Based on the systematic analysis of the daily living tasks in need of robot assistance, this paper proposes the key-point-based programming by demonstration recording approach to quickly obtain the demonstration information and develops a specified demonstration interface to simplify the operation process. A corresponding evaluation approach is also proposed from the demonstration trajectories and demonstration process two aspects. Additionally, tasks of “holding water glass task”, “eating task”, and “opening door task” are carried out and experimental results, as well as comparative evaluations confirm the validity of the proposed approach with high efficiency. This study can not only offer a convenient and feasible way to obtain the demonstration information of daily living tasks, but also lay a good foundation for the assistive robot to learn relative motion skills, especially for the demonstrated dexterous manipulation skills, and semi-autonomously accomplish complex, multi-step tasks following the user’s instructions in the daily home environment.

The Design of a Dexterous Gripper to be Used for Activities of Daily Living by People With Upper-Extremity Disabilities

2007 ◽  
Author(s):  
Redwan Alqasemi ◽  
Sebastian Mahler ◽  
Rajiv Dubey
Keyword(s):  
Activities Of Daily Living ◽  
Upper Extremity ◽  
Daily Living ◽  
The Other ◽  
Robotic Arm ◽  
Driving Mechanism ◽  
Actuation Mechanism ◽  
Parallel Motion ◽  
Different Shapes ◽  
Wheelchair Mounted Robotic Arm

A new robotic gripper was designed and constructed for Activities of Daily Living (ADL) to be used with the new Wheelchair-Mounted Robotic Arm developed at USF. Two aspects of the new gripper made it unique; one is the design of the paddles, and the other is the design of the actuation mechanism that produces parallel motion for effective gripping. The paddles of the gripper were designed to grasp a wide variety objects with different shapes and sizes that are used in every day life. The driving mechanism was designed to be simple, light, effective, safe, self content, and independent of the robotic arm attached to it.

Recent Advances on Human-Robot Interface of Wheelchair-Mounted Robotic Arm

2019 ◽  
Vol 12 (1) ◽  
pp. 45-54
Author(s):  
Mingshan Chi ◽  
Yufeng Yao ◽  
Yaxin Liu ◽  
Ming Zhong
Keyword(s):  
Control Process ◽  
Practical Significance ◽  
Robotic Arm ◽  
Robot Arm ◽  
Operation Performance ◽  
Assistive Robots ◽  
Athletic Ability ◽  
Core Technology ◽  
Assistive Robot ◽  
Wheelchair Mounted Robotic Arm

Background: Wheelchair mounted robotic arm is a typical assistive robot, which is widely used to help the elders and the disabled to complete the activities of daily life. But limited by the restrictions of the users’ athletic ability and cognitive ability, how to flexibly manipulate such robot is still a problem in front of them. The human-computer interaction technology is the core technology of the robot. Its performance directly affects the user's acceptability, satisfaction and promotion of intelligent wheelchairs. Objective: The study aims to give a general summary of recent human-robot interface of wheelchair mounted robotic arm and introduce their respective characteristics. Methods: Based on various patents and research developments about the human-robot interface of the assistive robot at home and abroad, this paper puts forward the basic principle of designing the humanrobot interaction mode, divides the man-robot interface into two categories based on the perspective of user control robot arm, and describes in detail, the typical human-robot interface and its related characteristics contained in each classification. Results: The development trends of the human-robot interface in future are predicted, so as to provide some research reference for the related scientific researchers. Conclusion: Wheelchair mounted robotic arm has important practical significance. Further improvements are needed in the design of the human-robot interface. It can effectively improve the operation performance of the WMRA, and take full advantage of the user’s existing movement ability to meet the requirement of dominating the control process. Furthermore, these improvements in the human-robot interface will allow more and more users to accept the WMRA, manipulate the WMRA, and enjoy improvements in the quality of their life for these assistive robots.

Mechanical Design and Analysis of a Wheelchair Mounted Robotic Arm With Adaptable Gripper and Remote Actuation System

2016 ◽  
Author(s):  
Matthew Ahlstedt ◽  
Carter Duling ◽  
Yimesker Yihun
Keyword(s):  
Daily Living ◽  
Mechanical Design ◽  
Neuromuscular Diseases ◽  
Upper Body ◽  
Robotic Arm ◽  
Pulley System ◽  
Wheelchair Users ◽  
Actuation System ◽  
Remote Actuation ◽  
Wheelchair Mounted Robotic Arm

Majority of wheelchair users experience upper-body muscular weakness, resulting from neuromuscular diseases, which limit their ability to perform common activities of daily living. A Wheelchair Mounted Robotic Arm (WMRA) will assist these individuals to eat, drink, and move objects as needed. This paper presents the design of a new WMRA as well as the analysis of its function. The design is side-mounted onto either a normal or power wheelchair, and incorporates a slim profile to allow ease of passage through doorways and be otherwise unobtrusive. The arm is easily removable, with assistance, for storage or travel. The mechanical design utilizes a belt and pulley system for remote actuation of each joint, driven by DC Gearmotors located in the base of the arm. This helps to shift the weight closer to the wheelchair and to maintain the required speed, torque and inertia while actively driving each joint of the robot. The end-effector is a unique design, intended to have the adaptability to securely lift a large variety of objects. Grasping simulations were performed on several standard objects which might be encountered daily. Structural, kinematic and workspace analyses are conducted, and results confirm that the designed WMRA is rated to lift a 4 kg payload, while also having a reach of 1.3 meters long radius.

Autonomous Control and Simulation of a Wheelchair Mounted Robotic Arm Performing Activities of Daily Living Tasks

2009 ◽  
Author(s):  
Fabian Farelo ◽  
Redwan Alqasemi ◽  
Rajiv Dubey
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Robotic Arm ◽  
Servo Drive ◽  
Control Scheme ◽  
And Performance ◽  
Mobility Impaired ◽  
Wheelchair Mounted Robotic Arm

A wheelchair-mounted robotic arm was designed and developed to enhance the capabilities of mobility-impaired persons with limited upper extremities limitations exceeding previous models specifications and performance [1]. The major enhancements of the wheelchair’s mechanical design are the incorporation of DC servo drive with encoders at each individual joint. The arm has seven degrees of freedom (DoF) and is side-mounted on a power wheelchair (fig 1). The control system allows coordinated Cartesian control, and offers expandability for research in combined mobility and manipulation. This paper discusses the control scheme and a virtual simulation of the existing WMRA prototype performing several activities of daily living.

The Development of Intelligence Walking Stick for Elderly Health Care using IoT

2020 ◽  
Vol 9 (5) ◽  
pp. 1334-1338
Keyword(s):  
Health Care ◽  
Daily Living ◽  
The Elderly ◽  
Mean Value ◽  
Real Time System ◽  
Pressure Oxygen ◽  
Elderly Health ◽  
The Mean ◽  
Iot Devices ◽  
Walking Stick

Nowadays, Thailand is stepping into an aging society. This research purposes developing the intelligence walking stick for the elderly in terms of the health care system by applied the IoT devices and biometric sensors in a real-time system. The heart rate, blood pressure, oxygen saturation, and temperature were measured at the finger of the elderly that holding the intelligence walking stick. All data can monitor and display on mobile devices. The intelligence walking stick system was evaluated by twenty users who are five experts and fifteen elderly in Ratchaburi province. As a result of the mean value at 4.88 and 4.85 by experts and elderly, respectively. It could be said that the development of intelligence walking stick by using IoT can help and improve the daily living of the elderly at the highest level.

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