Academic literature on the topic 'Robotic Device for Mobility-Aid'
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Journal articles on the topic "Robotic Device for Mobility-Aid"
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Yin, ChengXin, Abderraouf Benali, and Frédéric Kratz. "Predictive simulation for the design of robotic solution to mobility aid." Journal of Computational Design and Engineering 8, no. 6 (November 26, 2021): 1576–90. http://dx.doi.org/10.1093/jcde/qwab062.
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Abstract Maintaining substantial mobility is essential for those who suffer from reduced mobility to regain their independence in daily motion tasks. In recent years, robotic solutions to human mobility aid have been functionally verified by various applications. Moreover, with the emergence of new robots and systems, the robot design theory is also under rapid evolution. This paper proposes a methodology to enhance the design of robotic exoskeleton. The aim was to help the designer to select adequate dynamical behaviors to the development of control scheme for the human motions assisted by a robotic assistance device. The main contribution of this work resides in the proposition of optimized impedance parameters for a particular human movement via neuromusculoskeletal (NMS) modelization and predictive simulation. The technique of NMS modeling that represents the motions of human upper limb was applied to study the underlying mechanisms of human movements. Predictive simulation integrated with the NMS model was formulated and solved for generating a series of optimized human dynamic parameters. In this paper, a case study of human–robot interface has been proposed to exemplify our methodology. The modeling and simulation processes were validated with experimental tools. According to the simulated human dynamics, the optimized stiffness and damping coefficients of one degree of freedom were calculated. Results show that our methods are promising and allowed to specify the human movement for a given task, and can provide the design parameters to control scheme of a robotic exoskeleton.
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Raj, Anil K., Peter D. Neuhaus, Adrien M. Moucheboeuf, Jerryll H. Noorden, and David V. Lecoutre. "Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance." Journal of Robotics 2011 (2011): 1–8. http://dx.doi.org/10.1155/2011/284352.
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While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic orthosis for mobility assistance that provides mobility capability for paraplegic and paraparetic users. This paper describes the initial concept, design goals, and methods of this wearable overground robotic mobility device, which uses compliant actuation to power the hip and knee joints. Paralyzed users can balance and walk using the device over level terrain with the assistance of forearm crutches employing a quadrupedal gait. We have initiated sensory substitution feedback mechanisms to augment user sensory perception of his or her lower extremities. Using this sensory feedback, we hypothesize that users will ambulate with a more natural, upright gait and will be able to directly control the gait parameters and respond to perturbations. This may allow bipedal (with minimal support) gait in future prototypes.
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Miller, Rebecca, Farshid Abbasi, and Javad Mohammadpour. "Power line robotic device for overhead line inspection and maintenance." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 75–84. http://dx.doi.org/10.1108/ir-06-2016-0165.
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Purpose This paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. The focus for this design is on simplicity and compactness with a goal to create a device for linemen and other power line workers to keep in their toolbox. Design/methodology/approach The prototype uses V-grooved wheels to grip the line and can pass obstacles such as splices. It is equipped with a video camera to aid in line inspection and a scrub brush to clean debris from the line. The operator controls the device remotely from a laptop through a wireless connection. The novel way in which this device moves down the power line allows compactness while still being able to overcome in-line obstacles up to a certain size. Findings The device has been tested on a test bed in the lab. The device is able to move down a line and expand to overcome in-line obstacles as it travels. Testing proved the mechanical feasibility and revealed new requirements for a future prototype. Practical implications The device can be used for power line asset management by power companies; line inspection can lead to preventative repairs, leading to less downtime. Social implications It stands to reduce costs related to maintenance and mitigates down time and emergency repairs. Originality/value Innovative features include its size, mobility and control methods. Overall, the impact of this work extends to the utility maintenance sector and beyond.
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Zhetenbayev, Nursultan, Gani Balbayev, Duisebayeva Aknur, Algazy Zhauyt, and Beibit Shingissov. "Developing of a wearable ankle rehabilitation robotic device." Vibroengineering PROCEDIA 48 (February 11, 2023): 36–41. http://dx.doi.org/10.21595/vp.2023.23168.
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People with walking disorders caused by accidents or stroke can undergo treatment to restore their mobility. Traditional therapy is time-consuming and time-consuming. Therefore, a new trend was born – to facilitate rehabilitation and reduce the patient’s time. Rehabilitation robotics is an area that is constantly evolving, and new mechanisms have recently been developed to help people regain their mobility. This paper presents a 3-RPS parallel manipulator for the restoration of the ankle joint with three degrees of freedom. Parallel manipulator 3-RPS with three degrees of freedom, which was introduced by K. Hunt in 1983 as one of the sedentary parallel manipulators. Since then, 3-RPS has attracted a lot of attention from robotics and biomedical engineering engineers.
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Leite, Daniel, Karla Figueiredo, and Marley Vellasco. "Prototype of Robotic Device for Mobility Assistance for the Elderly in Urban Environments." Sensors 20, no. 11 (May 28, 2020): 3056. http://dx.doi.org/10.3390/s20113056.
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This study aims to develop a prototype of an autonomous robotic device to assist the locomotion of the elderly in urban environments. Among the achievements presented are the control techniques used for autonomous navigation and the software tools and hardware applied in the prototype. This is an extension of a previous work, in which part of the navigation algorithm was developed and validated in a simulated environment. In this extension, the real prototype is controlled by an algorithm based on fuzzy logic to obtain standalone and more-natural navigation for the user of the device. The robotic device is intended to guide an elderly person in an urban environment autonomously, although it also has a manual navigation mode. Therefore, the device should be able to navigate smoothly without sudden manoeuvres and should respect the locomotion time of the user. Furthermore, because of the proposed environment, the device should be able to navigate in an unknown and unstructured environment. The results reveal that this prototype achieves the proposed objective, demonstrating adequate behaviour for navigation in an unknown environment and fundamental safety characteristics to assist the elderly.
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Koumpouros, Yiannis, Alexandra Karavasili, Eleni Efthimiou, Stavroula-Evita Fotinea, Theodore Goulas, and Anna Vacalopoulou. "User Evaluation of the MOBOT Rollator Type Robotic Mobility Assistive Device." Technologies 5, no. 4 (November 18, 2017): 73. http://dx.doi.org/10.3390/technologies5040073.
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Ou, Yang-Kun, Yu-Lin Wang, Hua-Cheng Chang, and Chun-Chih Chen. "Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation." Healthcare 8, no. 1 (January 15, 2020): 18. http://dx.doi.org/10.3390/healthcare8010018.
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For more than a decade, many countries have been actively developing robotic assistive devices to assist in the rehabilitation of individuals with limb disability to regain function in the extremities. The exoskeleton assistive device in this study has been designed primarily for hemiplegic stroke patients to aid in the extension of fingers to open up the palm to simulate the effects of rehabilitation. This exoskeleton was designed as an anterior-support type to achieve palmar extension and acts as a robotic assistive device for rehabilitation in bilateral upper limb task training. Testing results show that this wearable exoskeleton assistive device with human factor consideration using percentile dimensions can provide comfortable wear on patients as well as adequate torque to pull individual fingers into flexion towards the palm for rehabilitation. We hope this exoskeleton device can help stroke patients with loss of function in the upper extremities to resume motor activities in order to maintain activities of daily living.
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Abd-ul-Amir, Duha Qais, Auns Qusai Hashim, and Abdulnasir Hussin Ameer. "Design and Implement an Exoskeleton Arm for Reinforcement the Human Muscles after Stroke." Al-Nahrain Journal for Engineering Sciences 22, no. 4 (December 20, 2019): 252–58. http://dx.doi.org/10.29194/njes.22040252.
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Mobility limitations in stroke survivors yield negative impacts on the quality of life for such individuals. Rehabilitation is needed to help them recover and regain mobility. Accordingly, this study aims to design and validate a “Robotic Exoskeleton” intended for stroke rehabilitation. The basic principles of this robotic exoskeleton device are its dependence on electromyography signal and electronic microcontroller to provide an efficient physiotherapy exercises system.The robotic exoskeleton is a one degree of freedom which performs the flexion and extension of the elbow joint. After the design was completed, 19 subjects participated in this study: 4 healthy subjects, and 15 post-stroke patients.The results showed the benefit of robotic exoskeleton in increasing the elbow range of motion, where angle of elbow flexion was raised from the first physiotherapy session to maximum elbow flexion in the last session.
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Anthony, Jacob, Chung-Hyun Goh, Alireza Yazdanshenas, and Yong Tai Wang. "Redesign of Leg Assembly and Implementation of Reinforcement Learning for a Multi-Purpose Rehabilitation Robotic Device (RoboREHAB)." Applied Sciences 14, no. 2 (January 6, 2024): 516. http://dx.doi.org/10.3390/app14020516.
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Patients who are suffering from neuromuscular disorders or injuries that impair motor control need to undergo rehabilitation to regain mobility. Gait training is commonly prescribed to patients to regain muscle memory. Automated-walking training devices were created to aid this process; while these devices establish accurate ankle-path trajectories, the knee and hip movements are inaccurate. In this work, a redesign of the leg assembly in a multi-purpose rehabilitation robotic device (RoboREHAB) was explored to improve hip- and knee-movement accuracy by adding an extra link and rollers to the assembly. Motion analysis was employed to test feasibility, reinforcement learning was utilized to train the new leg assembly to walk, and the joint motions achieved with the redesign were compared to those achieved by motion-capture (mocap) data. As a key result, the motion analysis showed an improvement in the knee- and hip-path trajectories due to the added roller/joint segment. The redesigned leg assembly, under the reinforcement-learning policy, showed a 5% deviation from the motion-capture joint trajectories with a maximum deviation of 51.177 mm but maintained a similar profile to the mocap trajectory data. This is an improvement over the original two-segment design, which achieved a maximum deviation of 72.084 mm. These results in the knee- and hip-joint movements more closely reflect the mocap and motion-analysis results, validating the redesign and opening it up to further experimentation and technical improvement.
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Hari Krishnan, R., and S. Pugazhenthi. "Design and development of a robotic self-transfer device for wheelchair users." Journal of Enabling Technologies 11, no. 2 (June 19, 2017): 59–72. http://dx.doi.org/10.1108/jet-12-2016-0025.
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Purpose Wheelchair users face great difficulty in transferring themselves from one surface to another, for example from wheelchair to a toilet commode. In such cases, mostly a caregiver’s assistance may be required, but it affects one’s dignity. The purpose of this paper is to develop a robotic self-transfer device, which is aimed at offering privacy and independence to people with lower limb disabilities in performing daily activities. Design/methodology/approach The device, attached to a powered wheelchair, is useful in transferring a user from a wheelchair to a toilet commode or any other surface following simple and natural transfer procedure without the need of any caregiver. The user can achieve transfer by operating joysticks. The device employs two linear actuators and a motor to accomplish the transfer. Trials were carried out to test the performance of the device by involving potential beneficiaries. Findings The device could successfully transfer the participants from a wheelchair to a chair with less effort in less than a minute. The results of the trials show that the participants felt comfortable in using the device. It was also found that the device is superior to other existing transfer systems in terms of comfort and operation. Originality/value The existing self-transfer systems are alternative solutions that serve the purpose of mobility coupled with self-transfer. Instead of developing an alternative mobility solution, this paper proposes a novel design of a self-transfer device that can be used as an attachment to wheelchair.
Dissertations / Theses on the topic "Robotic Device for Mobility-Aid"
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Yin, ChengXin. "Predictive Simulation for the Design of Robotic Device for Mobility-Aid." Electronic Thesis or Diss., Bourges, INSA Centre Val de Loire, 2020. http://www.theses.fr/2020ISAB0007.
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Dans cette thèse, nous avons proposé une méthodologie pour aider dans la conception d'un exosquelette robotique. En effet, le travail principal est d'aider le concepteur à sélectionner les comportements dynamiques adéquats des mouvements induit par un exosquelette pour une personne à mobilité réduite. En ajustant les paramètres de chaque actionneur, les tâches de mouvement humain peuvent être assistées par l'application d'une aide à la mobilité robotisée via une interaction hommerobot. Il n'y aura qu'un seul groupe de paramètres d'actionneurs les plus appropriés créés par optimisation pour une locomotion humaine particulière. Sur la base des résultats optimisés, nous sommes en mesure d'interpréter l'interaction homme-robot pour proposer une conception de variables de contrôle pour une tâche de mouvement spécifiée. La première étape de cette méthode consiste à mettre en œuvre la modélisation neuromusculosquelettique (NMS) et la simulation, pour mieux décrire les caractéristiques dynamiques humaines. Cette étape peut illustrer les natures physiologiques du corps humain sous la forme de «Actionneur Musculaire - Accélération -Trajectoire» pendant une période de mouvement. Par exemple, on peut rechercher la fonction des muscles dans l'actionnement de la locomotion humaine grâce à une simulation de la poursuite de trajectoire. En outre, des cas de simulation ont été créés pour évaluer de nouveaux mouvements et adaptations à différentes conditions. La mise en œuvre de la simulation prédictive le rend possible: ce quiconstitue également la deuxième étape de notre étude. Pour réaliser les prédictions, elles doivent d'abord formuler notre problèmes de contrôle optimal puis le résoudre par des algorithmes numériques. Une interface de programmation applicable (API) àOpenSim-Matlab a été utilisée pour intégrer un solveur numérique et discrétiser les problèmes et résoudre les processus. Ces propositions ont été validées via une étude de cas d'aide à la mobilité robotique, le système humainESTA. ESTA est un exosquelette conçu pour compenser les degrés de liberté (DOF) du bras de l'utilisateur. L'humanoïde NMS a été modélisé comme un membre supérieur d'un côté. Les effets d'interaction entre l'humain et le dispositif ont été considérés comme les actionneurs virtuels équivalents qui fournissent des forces et moments ajustés pour des articulations humaines particulières. Un problème de contrôle optimal a été formulé pour représenter les simulations prédictives. Ensuite, nous avons également testé une variété de variables de contrôle optimales afin de prédire les situations «What if» . Des données expérimentales ont été collectées pour valider les systèmes ainsi que pour fixer les trajectoires référencées aux prédictions. Les résultats montrent que notre méthode pour proposer un modèle d'actionnement pour un exosquelette robotique est prometteuse et permet de préciser le mouvement humain par une tâche donnéeIn this thesis, we have proposed a methodology on design of the robotic exoskeleton. The main work is to help the designer to select adequate dynamical behaviors of the movements induced by an exoskeleton for a person with reduced mobility. Hence by adjusting the parameters for each actuator, the human motion tasks can be assisted by the robotic mobilityaid application via human-device interaction. There is only one group of the most suitable actuator parameters created via optimization for a particular human locomotion. Based on the optimized results, we are able to interpret the human-device interaction as well as to propose the design of control variables for a specified motion task. The first stage of this method consists of the implementation of the neuromusculoskeletal (NMS) modeling and simulation, which is for better describing the human dynamical characteristics. This stage can illustrate the physiological natures of human bodies in the form of 'Muscular ActuatorAcceleration-Trajectory' during a period of motion. For instance, one can search the function of muscles in actuating human locomotion through a motion-tracking simulation. Besides, the 'what if' cases were created to evaluate novel movements and adaptions to different conditions. The implementation of predictive simulation makes it feasible : which also constitutes thesecond stage of our study. To fulfill the predictions, we have to formulate our problems as optimal control processes and then solve them by numerical algorithms. Here, an OpenSimMatlab applicable programming interface (API) was modeled to embed a numerical solver and discretize the problems and solve the processes. These propositions have been validated via a case-study of robotic mobility-aid, the human-ESTA system. ESTA is an exoskeleton designed for compensating degrees-of-freedom (dofs) of the user's arm. The NMS humanoid was modeled as one-side upper extremity limb. Interaction effects between the human and device were considered as the equivalent virtual actuators which provide adjusted forces and moments for particular human joints. An optimal control problem was set to represent the predictive simulations. We also tested a variety of the optimal control variables in order to predict the 'what if' situations. Experimental data were collected for validating the systems as well as setting the referred trajectories to the predictions. Results showthat our method for proposing an actuating pattern for a robotic exoskeleton is promising and allowed to specify the human movement for a given task
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LEITE, DANIEL DE SOUSA. "ROBOTIC DEVICE FOR MOBILITY ASSISTANCE TO ELDERLY PEOPLE IN URBAN ENVIRONMENTS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2016. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=32438@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCOORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
PROGRAMA DE EXCELENCIA ACADEMICA
Com o aumento da expectativa, de vida o envelhecimento da população vem se tornando uma realidade cada vez mais presente no Brasil e no mundo. Esse novo panorama demográfico já é vivenciado por países ricos, que vêm cada vez mais investindo para se enquadrar nessa nova realidade, seja por meio da adaptação de suas cidades ou pelo desenvolvimento de novas tecnologias para melhora da qualidade de vida. Na área da robótica, diversas pesquisas vêm sendo desenvolvidas com o intuito de reabilitação e melhora da qualidade de vida da população idosa. Nesses trabalhos são desenvolvidos, por exemplo, dispositivos que buscam auxiliar o idoso na realização de suas atividades diárias, provendo, principalmente, suporte e prevenção de quedas. Essa dissertação de mestrado apresenta o desenvolvimento do protótipo de um dispositivo para assistência a locomoção de pessoas idosas que possuam alguma deficiência visual, motora e/ou cognitiva. O dispositivo tem como objetivo guiar o usuário em ambientes urbanos de maneira autônoma. O protótipo deve ser capaz de desviar de qualquer obstáculo que possa levar o idoso à queda, além de ter uma estrutura que ofereça apoio para o seu deslocamento. O dispositivo proposto possui uma estrutura semelhante a um andador, cuja base é um robô móvel diferencial. Para que possa obter informações do ambiente, o dispositivo está equipado com sensores de distância, uma central inercial e encoders nas rodas. Todo o processamento ocorre em uma CPU de baixo custo, Raspberry Pi 1 versão 2, embarcada no próprio dispositivo e o controle de navegação ocorre por meio de um algoritmo baseado em lógica Fuzzy. Os acessos ao hardware e software de controle do dispositivo são gerenciados pelo framework de robótica Player (Gerkey e contribuidores, 2010). Para que o dispositivo receba a rota de navegação ele está conectado a um celular, com sistema operacional Android, via protocolo TCP/IP. Esse celular está executando uma API (Application Programming Interface) do Google Maps que fornece direção e distância ao objetivo a cada passo da interação, além da localização global do dispositivo, por meio do sensor GPS do celular. O objetivo deve ser inicialmente estabelecido pelo usuário por meio da API desenvolvida, para que a navegação autônoma ocorra. Além da navegação autônoma, o dispositivo permite que usuário envie comandos diretamente para os motores por meio de sensores de força instalados próximos aos pontos de apoio do usuário.
With the increase in life expectation, the ageing population has become more present in Brazil and the world. This new demographic scenery has been already framed by rich countries, which are increasingly investing to fit this new reality, either through the adaptation of their cities or the development of new technologies to improve the quality of life. In the area of robotics, several researches have been developed with the aim of rehabilitation and improvement of the quality of life of the elderly population. These researches are developing, for example, devices to assist the elderly in carrying out their daily activities, providing support and prevention of falls. This work presents the development of the prototype of a device to assist elderly person with any visual, cognitive and/or motor impairment to locomotion by itself. The device aims to guide the user autonomously in urban environments. The prototype should be able to avoid any obstacle that can cause the elderly to fall, besides having a structure that offers support for his balance. The proposed device has a structure similar to a walker whose base is a differential mobile robot. For the device be able to get information from the environment, it is embedded with range sensors, a measurement central unit and encoders at the wheels. All processing occurs in a low-cost CPU, Raspberry Pi 1 B version 2, which is embedded in the mobile device, and the navigation control algorithm is based on fuzzy logic. The robotic framework Player (Gerkey and contributors, 2010) provides the access to the hardware and software of the device. For the device to receive the navigation route, it is connected to an Android operating system phone, by TCP/IP protocol. This phone runs an API (Application Programming Interface) from Google Maps that provides the direction and the distance to the goal in every step of its interaction, besides the global location of the robot, provided by the GPS sensor of the phone. The user should firstly set the goal with the API developed, so that the autonomous navigation will occur. In addition to the autonomous navigation, the device allows the user to send commands directly to the motors by means of the force sensors installed at the robot cane.
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Lindborg, Ann-Louise. "Usability Requirements for User-Controlled Robotic Eating Aids." Licentiate thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54895.
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The meal is fundamental in terms of nutrition but also from a social perspective. To be able to eat independently is described as important for the meal experience. The development of a robotic eating aid called Bestic and the evolvement of a list of usability criteria for such an aid are described in this thesis. The work has been ongoing for 16 years. Bestic has been developed through user centred design, an iterative process with reoccurring evaluations and development. The design principle “it is not supposed just to work, but to be worth using” has guided the work. The feedback provided by the users throughout this process has had a great impact on the strategic choices of which features to prioritize during further development and what to keep as it is and has contributed to the list of usability requirements for robotic eating aids. The context in which the robotic eating aid is used is of importance for the usability requirements. To further understand the environment that the robotic eating aid is used in, studies about the meal situation for older people in both Scandinavian/Swedish and Japanese contexts were conducted. The secondary users (care professionals or next of kin) were also taken into consideration when deriving the usability requirements and while performing the evaluations of the robotic eating aid. The most important research outcome from this work is a list of usability requirements for robotic eating aids. The requirements are divided into functional requirements and social requirements. The functional requirements for robotic eating aids include: · how well they work to eat with · how they are controlled · safety aspects · portability · possibility to adapt to different users. The social requirements for robotic eating aids include: · how to fit into the meal situation · not to disturb the conversation · the needs from secondary users.Måltiden är fundamental för de allra flesta, för att få i sig näring men även som en social aktivitet. Att kunna äta självständigt beskrivs som viktigt för upplevelsen av måltiden. I denna avhandling beskrivs utvecklingen av ett robotiserat äthjälpmedel som heter Bestic och hur en lista med användbarhetskriterier för robotiserade äthjälpmedel har växt fram. Arbetet har pågått i 16 år. Bestic är utvecklad genom användarcentrerad design, en iterativ process med återkommande utvärderingar och utvecklingssteg. Designprincipen ”den skall inte bara gå att använda, utan vara värd att använda” har lett arbetet. Återkopplingen från användarna genom hela processen har haft stor inverkan på strategiska val för vilka funktioner som skall prioriteras för fortsatt utveckling och vad som skall behållas som det är. Återkopplingen har även utgjort ett underlag till listan med användbarhetskriterier för robotiserade äthjälpmedel. Miljön som äthjälpmedel används i påverkar också användbarhetskriterierna. För att förstå denna miljö genomfördes studier om måltidssituationen för äldre personer i både en skandinavisk/svensk och japansk kontext. Även sekundära användare (vårdpersonal eller anhöriga) togs i beaktan vid framtagandet av användbarhetskriterierna. Det viktigaste forskningsbidraget från detta arbete är en lista av användbarhetskriterier för robotiserade äthjälpmedel. Kriterierna är uppdelade på funktionella och sociala kriterier. De funktionella användbarhetskriterierna för robotiserade äthjälpmedel inkluderar: · hur bra de fungerar att äta med · hur de styrs · säkerhetsaspekter · bärbarhet · möjlighet att anpassa till olika användare. De sociala användbarhetskriterierna för robotiserade äthjälpmedel inkluderar: · hur den passar in i måltidssituationen · att inte störa konversationen · behoven från de sekundära användarna.
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Wood, Evan A. "Design and Prototype of an Active Knee Exoskeleton to Aid Farmers with Mobility Limitations." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/93531.
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As farmers continue to get older, they will likely face age-related disabilities that impede their ability to work and increase risk of suffering serious injuries. One of the major age- related diseases is arthritis, which currently accounts for about 40% of disability cases in agriculture nationwide. The effect of arthritis on farmers is profound because it reduces their physical strength, joint range of motion and is a source of joint pain, all culminating in the lack of ability to perform routine activities regularly and safely. One way to decrease the rate of injuries is by reducing the strength and joint loading required to perform these activities through the use of wearable robotics. As opposed to existing solutions that focus only on injury prevention, this thesis will present an active, knee-assist exoskeleton intent on providing 30% of the necessary joint rotation force to perform activities such as sit-to- stand actions and the ascent/descent of stairs and hills. The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer's body, which will minimize the effects of arthritis and ultimately improve safety and quality of life.Master of Science
As farmers continue to get older, they will likely face age-related disabilities that impede their ability to work and increase risk of suffering serious injuries. One of the major age-related diseases is arthritis, which currently accounts for about 40% of disability cases in agriculture nationwide. The effect of arthritis on farmers is profound because it reduces their physical strength, joint range of motion and is a source of joint pain, all culminating in the lack of ability to perform routine activities regularly and safely. One way to decrease the rate of injuries is by reducing the strength and joint loading required to perform these activities through the use of wearable robotics. As opposed to existing solutions that focus only on injury prevention, this thesis will present an active, knee-assist exoskeleton intent on providing 30% of the necessary joint rotation force to perform activities such as sit-to-stand actions and the ascent/descent of stairs and hills. The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer’s body, which will minimize the effects of arthritis and ultimately improve safety and quality of life.
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Lynch, Amy Katherine. "Robot assisted mobility for very young infants." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 156 p, 2009. http://proquest.umi.com/pqdweb?did=1824925431&sid=1&Fmt=2&clientId=8331&RQT=309&VName=PQD.
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Yu, Mingyue, and Yixuan Lu. "Designing of A Pneumatic Cushion for Supporting Standing and Sitting Process." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16275.
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As is known to all, the aging problem becomes more and more serious in recent years. The issues “get into and out of a chair”, from one of the self-care tasks of aging people named Functional mobility in ADLs (Activity of daily livings), need to be solved carefully in efficient ways to help seniors and patients who have physical problems dealing with their daily life. In this previous investigation, the existing products in the market are normally quite heavy and importable. After combined with the advantages of the existing products and some improvements in portability and comfort which is related to human engineering. A Pneumatic Cushion for Supporting Standing and Sitting Process, based on airbag and pneumatic system which has been designed in this thesis, can be used by user who has physical-trouble for standing up and sitting down. Meanwhile, after being assembled with some specific extra components, it can be used as a mobility aid device. For the whole designing process, many relevant article, video sources and websites are referred for the previous researches, including Google Scholar, BTH Digital Library and YouTube. The product was designed and analysed in Inventor 2018 and the fluid dynamic simulation has been done in Abaqus. Studies involved lifting function are selected after the survey about assist appliance and aid appliance market.
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Wolm, Patrick. "Dynamic Stability Control of Front Wheel Drive Wheelchairs Using Solid State Accelerometers and Gyroscopes." Thesis, University of Canterbury. Mechanical Engineering, 2009. http://hdl.handle.net/10092/4451.
Full textAbstract:
While the active dynamic stability of automobiles has increased over the past 17 years there have been very few similar advances made with electrically powered wheelchairs. This lack of improvement has led to a long standing acceptance of less-than-optimal stability and control of these wheelchairs. Accidents due to loss of stability are well documented. Hence, the healthcare industry has made several efforts for improved control of electric powered wheelchairs (EPWs) to provide enhanced comfort, safety and manoeuvrability at a lower cost. In response, an area of stability control was identified that could benefit from a feedback control system using solid state sensors.
To design an effective closed–loop feedback controller with optimal performance to overcome instabilities, an accurate model of wheelchair dynamics needed to be created. Such a model can be employed to test various controllers quickly and repeatedly, without the difficulties of physically setting a wheelchair up for each test. This task was one central goal of this research.
A wireless test-bed of a front wheel drive (FWD) wheelchair was also developed to validate a dynamic wheelchair model. It integrates sensors, a data control system, an embedded controller, and the motorised mechanical system. The wireless communication ensures the integrity of sensor data collected and control signals sent. The test-bed developed not only facilitates the development of feedback controllers of motorised wheelchairs, but the collected data can also be used to confirm theories of causes of dynamic instabilities. The prototype test-bed performed the required tasks to satisfaction as defined by the sponsor.
Data collected from live tests in which the test-bed followed set patterns, was processed and analysed. The patterns were designed to induce instability. The analysis revealed that an occupied wheelchair is more stable than an unoccupied wheelchair, disproving an initial instability theory proposed in this research. However, a proximal theory explaining over-steer is confirmed.
Two models of the FWD test-bed were created. First, a dynamic model inherited from prior research, based on equations of motion was tested and enhanced based on measured data. However, even with alterations to correct parameter values and variables in the equations, a complete model validation was not possible. Second, a kinematic model was created with a factor to compensate for dynamics not normally accounted in kinematic models. The kinematic model was partially validated versus the measured data. Although, still highly accurate, there is room for improvement in this model. Both models contained a sub-system drive motor model, to account for input forces to the FWD wheelchair system model, which is fully validated.
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Dow, Malcolm James. "Disabled person's control, communication and entertainment aid: an investigation of the feasibility of using speech control and natural language understanding to control a manipulator and a software application and development environment." Thesis, 1994. https://vuir.vu.edu.au/17907/.
Full textAbstract:
The work reported in this thesis is a feasibility study of the possibilities and practical
problems of applying speech control and natural language understanding techniques to
the use of a computer by a physically disabled person. Solutions are proposed for the
overcoming of some of the difficulties and limitations of the available equipment, and
guidance given for the application of such systems to real tasks.
The use of voice control with a low cost industrial robot is described. The limitations
introduced by the speech control hardware, such as restricted vocabulary size and
artificial manner of speaking are partially overcome by software extensions to the
operating system and the application of natural language understanding techniques.
The application of voice control and audio response to common application packages
and a programming environment are explored.
Tools are developed to aid the construction of natural language understanding systems.
These include an extension to the use of an existing context-free parser generator to
enable it to handle context-sensitive grammars, and an efficient parallel parser which is
able to find all possible parses of a sentence simultaneously.
Machine readable dictionary construction is investigated, incorporating the analysis of
complex words in terms of their root forms using affix transformations, and the incorporation of semantic information using a variety of techniques, such as semantic
fields, the previously mentioned affix transforms, and object-oriented semantic trees.
The software developed for the system is written in Borland Pascal on an IBM
compatible P C , and is produced in the form of library modules and a toolkit to facilitate
its application to any desired task.
Books on the topic "Robotic Device for Mobility-Aid"
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Collaborative Assistive Robot For Mobility Enhancement Carmen The Bare Necessities Assisted Wheelchair Navigation And Beyond. Springer, 2012.
Find full textBook chapters on the topic "Robotic Device for Mobility-Aid"
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Urdiales, Cristina. "On the Why of Robotic Assistive Devices." In Collaborative Assistive Robot for Mobility Enhancement (CARMEN), 1–18. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-24902-0_1.
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Poon, James, and Jaime Valls Miro. "A Multi-modal Utility to Assist Powered Mobility Device Navigation Tasks." In Social Robotics, 300–309. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-11973-1_31.
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Cifuentes, Carlos A., and Anselmo Frizera. "Assistive Devices for Human Mobility and Gait Rehabilitation." In Springer Tracts in Advanced Robotics, 1–15. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-34063-0_1.
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Masroor, Salman, Hasan Bulut, Bahrudin, and Chyi-Yeu Lin. "Review on Powered Mobility and Meal Preparing Assistive Devices for Physically Disabled Persons." In Robotics and Mechatronics, 16–28. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_2.
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Urdiales, Cristina. "A Dummy’s Guide to Assistive Navigation Devices." In Collaborative Assistive Robot for Mobility Enhancement (CARMEN), 19–39. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-24902-0_2.
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Mishra, Sumit, Praveen Kumar Rajendran, and Dongsoo Har. "Socially Acceptable Route Planning and Trajectory Behavior Analysis of Personal Mobility Device for Mobility Management with Improved Sensing." In Robot Intelligence Technology and Applications 6, 53–65. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-97672-9_6.
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Shan, Harinee, and Anand Mahendran. "A Cloud Robotic Solution to Assist Medical Application." In Advances in Edge Computing: Massive Parallel Processing and Applications. IOS Press, 2020. http://dx.doi.org/10.3233/apc200012.
Full textAbstract:
Health care in India has been ranked 112th position out of 190 countries by WHO (World Health Organization). The health care in this country falls behind due to high cost for treatment and medication. The Conventional robots used in the field of medical need high memory and computation power for decision making and task execution. Which in turn leads to a high budget in the construction of robots. To overcome this problem and to provide a solution for upgrading healthcare, we propose a new architecture which makes use of Commercial off-the-shelf (COTS) for cloud robotics. Then, the key forces behind the progress of cloud robotics are analyzed. This chapter mainly deals with the patient who needs first aid at times of emergency (based on the data from COTS product) and how the cloud robot stands by to help the patient. COTS help in tracking the health of individuals and these reports are stored either in the devices or on storage spaces. And the use of these products reduces the cost of the proposed model. As the data are stored in the cloud or on the device the robots do not require memory space for storing these data. Henceforth the memory requirement for the robot can be reduced which in turn the cost spent on the memory of the robot and its size.
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Rea, Pierluigi, and Erika Ottaviano. "Mechatronic Design of Low-Cost Control Systems for Rehabilitation and Assisting Devices." In Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics, 82–97. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-0137-5.ch004.
Full textAbstract:
In this chapter, authors focus on mechatronic solutions for low-cost control devices for the homecare of elderly and people with reduced mobility, having the goal of assisting people in daily-life activities. The development of such systems can be exploited in the form of a toolkit to be flexible and applied either to rehabilitation or assistive systems, in order to aid movements with controlled position, force/torque, and acceleration, possibly introducing reliability, repetitiveness, and low cost in the related sector. In particular, the development of a low-cost control system design allows the applicability of the solution to a broad range of devices for the home-care. The authors aim to develop low-cost technologies for the homecare of elderly and people with motor impairments trying to reduce significantly the overall costs to facilitate wider use of assisting and rehabilitation systems. In particular, a Sit-To-Stand (STS) assisting device is considered as a paradigmatic example to illustrate design considerations.
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de Souza, Euzébio D., and Eduardo José Lima II. "Autonomic Computing in a Biomimetic Algorithm for Robots Dedicated to Rehabilitation of Ankle." In Robotic Systems, 955–68. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch047.
Full textAbstract:
Human mobility is the key element of everyday life, its reduction or loss deeply affects daily activities. In assisted rehabilitation, robotic devices have focuses on the biomechanics of motor control. However, biomechanics does not study the neurological and physiological processes related to normal gait. Biomimetics combined with biomechanics, can generate a more efficient stimulation of the motor cortex and the locomotor system. The highest efficiency obtained through torque generation models, based on the physiological response of muscles and bones to reaction forces, together with control techniques based on autonomic computation. An autonomic control algorithm has a self-adjusting behaviour, ensuring patient safety and robot operation without the continuous monitoring of the physiotherapist. Thus, this work will identify the elements that characterize the physiological stimuli related to normal human gait, focusing on the ankle joint, aiming the development of biomimetic algorithms for robots for rehabilitation of the lower limbs.
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"Navigation System for UFES’s Robotic Wheelchair." In Devices for Mobility and Manipulation for People with Reduced Abilities, 57–112. CRC Press, 2014. http://dx.doi.org/10.1201/b16870-8.
Full textConference papers on the topic "Robotic Device for Mobility-Aid"
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Thompson, Lara A., Jiajun Xu, and Devdas Shetty. "Devices to Aid Mobility: Biomedical Engineering-Focused Undergraduate Senior Capstone Design Projects." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-86826.
Full textAbstract:
In order to meet the increasing societal and market demand for a diverse and well-trained Biomedical Engineering (BME) workforce, the University of the District of Columbia (UDC), the nation’s only urban land-grant institution, the District of Columbia’s only public institution of higher education, and a historically black college and university (HBCU), nurtures BME activities focused on exposure, training and cultivation through research and experiential learning. Undergraduate design projects and research-based learning opportunities in BME are key program ingredients. This paper presents the former (i.e., three, BME-related undergraduate senior Capstone Design projects that target devices to aid patient immobility) namely, the design of: 1) an ankle foot orthosis, 2) an upperlimb robotic hand prosthetic, and 3) a chairless chair lower limb exoskeleton. A current focus of the UDC BME program is Rehabilitation Engineering (i.e., interventions and devices aimed at aiding those with mobility impairments). We briefly discuss the necessity for rehabilitation-focused, biomedical-related undergraduate experiences and training for underrepresented minority students at UDC, in particular, undergraduate engineering education through multidisciplinary BME projects that foster hands-on creativity towards innovative designs. In addition to critical design experiences and undergraduate training in BME, devices may have the potential to develop into new commercial technologies and/or research projects that will aid and enhance the quality life of individuals suffering from a wide-range of mobility-related issues.
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Patel, Mitesh, Jaime Valls Miro, and Gamini Dissanayake. "A probabilistic approach to learn activities of daily living of a mobility aid device user." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6906971.
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Mandala, Mahender, Jonathan Pearlman, Olof Berner, Padmaja Kankipati, and Rory Cooper. "Design and Development of the Single Motor Propelled Drive-Train (SiMPl-D)." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13225.
Full textAbstract:
Mobile robotic devices and other mobility related drive systems are often relegated to one of the two classes of devices available today: wheeled devices or tracked devices. Wheeled systems are more energy efficient and reliable than tracked systems, but existing designs have drawbacks related to rough-terrain driving and maneuvering in tight spaces. In this paper we describe the design and development of a drive system named the Single Motor Propelled Drive-train (SiMPl-D), which can potentially improve maneuvering over rough terrain and in tight spaces compared to traditional wheeled robots. SiMPl-D has two prominent features: a single drive motor, which provides both propulsion and turning, and is suspended under the center of mass of the device on a swingarm, which is linked through a suspension system to caster wheels; and it has reconfigurable drive wheel, which changes the turning radius of the device. Due to these features, SiMPl-D can traverse a wide range of terrain while remaining energy and cost efficient. SiMPl-D has been successfully used in an indoor/outdoor low-cost personal mobility device and is currently being implemented in other robotic mobility applications.
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Koumpouros, Yiannis, Alexandra Karavasili, Eleni Efthimiou, Stavroula-Evita Fotinea, Theodore Goulas, and Anna Vacalopoulou. "User Evaluation of the MOBOT rollator type robotic mobility assistive device." In PETRA '17: 10th International Conference on PErvasive Technologies Related to Assistive Environments. New York, NY, USA: ACM, 2017. http://dx.doi.org/10.1145/3056540.3076183.
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Leite, Daniel, Marley Vellasco, and Karla Figueiredo. "Robotic device for mobility assistance to elderly people in urban environments." In 2016 IEEE Latin American Conference on Computational Intelligence (LA-CCI). IEEE, 2016. http://dx.doi.org/10.1109/la-cci.2016.7885723.
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Stansfield, Sharon, Carole Dennis, and Helene Larin. "WeeBot: A novel method for infant control of a robotic mobility device." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6224574.
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Koumpouros, Yiannis, Alexandra Karavasili, Petros Maragos, Costas Tzafestas, Evita - Stavroula Fotinea, Eleni Efthimiou, Nikos Papastamatiou, Alexandros Nikolakakis, and Effie Papageorgiou. "Assessment of an Intelligent Robotic Rehabilitation Assistant." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002303.
Full textAbstract:
This paper presents assessment findings of the “i-Walk” robotic rehabilitation assistant. i-Walk provides support to target groups of people with cognitive and/or mobility deficits via a pioneer robotic rollator that utilizes innovation in multimodal robot perception, user-adaptive robot autonomy and natural human-robot interaction. The i-Walk rollator was thoroughly evaluated in terms of its usability and acceptance from its intended end users (patients and therapists) in a rehabilitation centre. i-Walk was tested (i) as a whole, and in terms of (ii) its navigation and human-robot interaction functionalities, (iii) the provided walking support, and (iv) the rehabilitation exercises it offers. In total, twenty-two patients and twelve therapists evaluated the device under real conditions. The paper presents the findings from the evaluation testing of the i-Walk platform. A systematic methodology and protocol were used to test the intelligent robotic rehabilitation assistant in three different scenarios. The PYTHEIA scale was used to evaluate the subjective assessment of the device. With 5 being the highest score and 1 the lowest one, both i-Walk user groups (patients and therapists) rated the device very high to excellent (mean score of therapists = 3,74 and mean score of patients = 4,14). The same holds for the three different functionalities examined (mean score for patients and therapists relevant to: navigation and human-robot interaction support = 4.25 and 4.67; walking support = 4.27 and 4.51; rehab exercises offered = 4,33 and 4,80). As a conclusion, the i-Walk robotic rehabilitation assistant was found very good to excellent in all different domains examined.
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Wu, Molei, Alexander Kandra, and Xiangrong Shen. "An Education-Oriented Robotic Anthropomorphic Hand System." In ASME 2014 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/dscc2014-5962.
Full textAbstract:
In this paper, an interactive robotic anthropomorphic hand system is presented, which was developed as an important tool for the educational outreach activities. The robotic anthropomorphic hand incorporates 15 degrees of freedom, providing sufficient mobility in the demonstration of various postures. To increase the attractiveness of the robotic hand, pneumatic muscle actuators are used to drive the robotic hand motion through artificial tendons. The interaction of the robotic hand with a human is enabled with a control device, which allows the human operator to control the hand motion in a natural way. The robotic hand system has been successfully demonstrated in a recent engineering education outreach event, in which over 100 children at all ages operated the robotic hand through the control device.
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Ward, Jeffrey A., Joseph Hitt, Thomas Sugar, and Kartik Bharadwaj. "Dynamic Pace Controller for the Robotic Gait Trainer." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99733.
Full textAbstract:
With over 600, 000 people each year surviving a stroke, it has become the leading cause of serious long-term disability in the United States [1,2,3]. Studies have proven that through repetitive task training, neural networks can be re-mapped thus increasing the mobility of the patient [4–8]. This paper is a continuation of Kartik Bharadwaj’s and Arizona State University’s research on the Robotic Gait Trainer [9]. This work is funded in part by the National Institutes of Health (NIH), grant number - 1 R43 HD04067 01. Previously the gait cycle was fixed at two seconds. For a smooth gait the patient had to be trained to follow the frequency of the robot. Audible cues were sounded to help the patient keep rhythm with the robot. This device now has an updated control methodology based on a Matlab and Simulink platform that allows the robot to dynamically adjust to the patient’s pace of gait. Data collected from an able-bodied person walking with the new device showed that the device dynamically adjusted to any normal range of walking gait. This more flexible design will allow the patient to focus more on the therapy and walk at his/her natural pace.
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Alqasemi, Redwan, and Rajiv Dubey. "A New 9-DoF Mobile Robotic Device to Enhance the Capabilities of People With Disabilities." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-41465.
Full textAbstract:
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.
Reports on the topic "Robotic Device for Mobility-Aid"
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Shaheen, Susan, Elliot Shaheen, Adam Cohen, Jacquelyn Broader, and Richard Davis. Managing the Curb: Understanding the Impacts of On-Demand Mobility on Public Transit, Micromobility, and Pedestrians. Mineta Transportation Institute, July 2022. http://dx.doi.org/10.31979/mti.2022.1904.
Full textAbstract:
In recent years, innovative mobility and shifts in travel and consumption behavior are changing how people access and use the curb. Shared mobility—the shared use of a vehicle, bicycle, scooter, or other mode—coupled with outdoor dining, curbside pick-up, and robotic delivery are creating new needs related to the planning, management, and enforcement of curb access. This study examines curb planning and management from several angles, such as safety, social equity, and multimodal connections. This research employs a multi-method approach to identify the changing needs for curb space management and how to meet these needs through new planning and implementation policies and strategies. As part of this study, the authors conducted 23 interviews. Respondents were chosen to represent public, private, and non-profit sector perspectives. Additionally, the authors employed a survey of 1,033 curb users and 241 taxi, transportation network company (TNC), and public transportation drivers. The study finds that changes in mode choice and curbside use can result in a variety of impacts on access, social equity, congestion, device management, pick-up and drop-off, and goods delivery, to name a few. The curb also has the potential to be disrupted by emerging modes, such as robotic delivery vehicles (also known as personal delivery devices) and automated vehicles. As these emerging developments continue to impact the curb, it is becoming increasingly important for policymakers to have an appropriate framework for planning and managing curb space in urban areas.