An Original Approach for a Better Remote Control of an Assistive Robot (original) (raw)

A remote control manipulator assistance for disabled people

Robotic assistance to disabled people is developing but cost and performances are still prohibitive. Research must focus on these two point. Two main problems are encountered: the conception of the robot and the control of the robot. The first point is frequently presented as not important, specially in the scientific community. Nevertheless, it is an essential part of the project. About the second point, the context imposes specific constraints like costs and Human-Machine Co-operation (HMC) which leads to several scientific problems. In ARPH project (Assistant Robot for Handicapped Persons), a functional prototype is developed. All the algorithms studied in the LSC are improved on this prototype. Firstly, we have worked on the autonomy of the robot. We are now working on several possibilities to a person to pilot the system. In fact, two entities, the robot and the human operator, with perception decision and action capacities have to co-operate to reach the goal fixed by the operator. Pluridisciplinarity is essential for this kind of project. We, robotic research team, are working with cognitive and psychology research teams.

Design and Analysis of a Wheelchair Mounted Robotic Arm with Remote Actuation System

This paper presents a new design of foldable, compact and cost-effective Wheelchair-Mounted-Robotic-Arm (WMRA).The design is based on remote actuation using stepper motors placed near the wheelchair armrest and a synchronous belt system. This design helps to shift the weight closer to the wheelchair and maintain the required speed, torque and inertia while delivering full dexterity by actively driving each joint of the robot. The robot will assist patients with different conditions of impairments to eat, drink, and move objects accurately. The lightweight structure designed from hollow PVC tubes and aluminum sheets helps to ease and facilitate port ability. The placement of the whole robot and coupled joints are taken into consideration to reduce physical and sensory interference with the user and the wheelchair. The strength and deflection of critical parts of the robot have been tested through finite element analysis (FEA) and the workspace of the robot has been studied through Kinematics analysis. The testing results indicate that the designed WMRA is strong enough to handle and manipulate objects as heavy as 4kg in a wide range of workspace.

Special Issue on Assistive and Rehabilitation Robotics

Autonomous Robots, 2017

Assistive and rehabilitation robotics currently covers a broad spectrum of research areas, from intelligent robots that act as aides, companions and educators; to robots that provide physical assistance for mobility, manipulation and support; to embedded robotics, ambient intelligence and intelligent spaces. People whose ability to perform daily living activities is limited or inhibited by injury, disease or impairment include (but are not limited to) stroke survivors with sustained neurological injuries, elderly populations with skeletal muscle weakness, persons with low-vision or blindness, traumatic injuries to the brain or spinal cord, and a variety of degenerative diseases that affect cognition, muscle tone and motor control.

Assistance and telepresence robots: a solution for elderly people

This paper presents a study of using telepresence and assistance robots in caring for elderly people. We have presented the requirements for these types of robots and possible application fields. Few models of robots will be presented, analyzing technical requirements of assistance robots and their applications. Hereinafter is presented a robot model being under design and development.

An assisting robotic system for rehabilitation and training of elderly people

2014

In this paper problems and characteristics are discussed for designing and operating a new system that can be used to assist elderly people in rehabilitation and training of limbs both at hospital frames and home environments. The proposed system, that is based on a portable parallel manipulator architecture with multidisciplinary equipment (as with heterogeneous sensorial and communication equipment) in multimodal human-machine interfaces and operation regulations, is outlined through considerations that are used in the project proposal for funding with the aim to stress problems in the formulation of a project funding plan with acceptance also from medical operators. The results of the project should be of benefit for elderly people users as well for medical operators.

IJERT-Personal Assistant Robot for Paraplegic People with Hand Gesture

International Journal of Engineering Research and Technology (IJERT), 2020

https://www.ijert.org/personal-assistant-robot-for-paraplegic-people-with-hand-gesture https://www.ijert.org/research/personal-assistant-robot-for-paraplegic-people-with-hand-gesture-IJERTV9IS030277.pdf In this fast growing modern world, many new technologies are being implemented for the physically challenged, especially for those who are immobile or paraplegic. People still experience lots of difficulties in doing few of their daily work. One such work is constantly lifting or picking up things by themselves. The drastic technological growth can be used to reduce human effort in carrying out these tasks. Robotic vehicles with pick and place mechanisms are highly efficient when compared to the conventional approaches. This system makes use of a completely hand motion controlled robotic vehicle using tilting motions which does not need a single button press. This allows to control vehicle motion as well as the pick and place arm simultaneously. The integration of IoT with Artificial Intelligence can be used to develop robotic vehicles which can act as Personal Assistants. This paper includes various features like Robotic arm with pick and place mechanism and inbuilt personal assistant.

ARPH-assistant robot for handicapped people-a pluridisciplinary project

2001

Several projects are in progress in the field of disabled people assistance. Their main particularity is pluridisciplinarity. Technological solutions must be validated by psychologists and disabled people at each step of development to be accepted by end users. ARPH is a manipulator arm mounted on a mobile robot which aims at restoring the manipulative function of an handicapped person. The localisation of the mobile base in indoor partially known environment is an important point. Automatic movements of the mobile robot have already been studied. The analysis of different shared control modes is in progress. Human-machine co-operation is one of the main focus points of the project. Disabled people want to act on the system but do not want to see it working on its one. More, human intervention in the control permits to limit the complexity of the system. In order to make this co-operation effective, the main idea is to give the robot human-like behaviours.

Automatic wheelchair with essential applications

This work presents the development of a robotic wheelchair that can be commanded by users. It provides flexibility to choose different modalities to command the wheelchair, in addition to be suitable for people with different levels of disabilities like partially paralyzed, by birth disabilities, accidental injuries etc. Users can command and control the wheelchair based on their head movements. Also, the user can control some home appliances. As a trial, we work on the lighting system in a room that is ON and OFF mechanism of a light. The wheelchair can also operate like an auto-guided vehicle, with the help of obstacle sensors, which detects the obstacles in front of it, and it either stops or takes deviation. A main door detection section is provided with a magnetic sensor in the wheelchair and a magnet fixed at the main door for safety and then the wheelchair stops. A security as well as a safety alarm is provided in the device, which beeps when the device may hit somewhere or an emergency situation occurs. Head movements are used for both moving the device and for controlling directions of the device. This device is capable of lighting the room by eye movements.