Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator

by Stephen D. Prior

Publisher: Middlesex University in London

Written in English
Published: Downloads: 18
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Edition Notes

Thesis submitted in partial fulfilment of the degree of Doctor of Philosophy.

StatementStephenD. Prior.
ContributionsMiddlesex University. School of Mechanical and Manufacturing Engineering.
The Physical Object
Pagination1 v 1 videocassette
ID Numbers
Open LibraryOL19095306M

  Buy Task Oriented Simulation and Control of a Wheelchair Mounted Robotic Arm: Mobility and manipulation implementation for a mobile manipulator with a non-holonomic mobile platform on FREE SHIPPING on qualified orders.   Among the technologies that Yanco has focused on is the Manus ARM (or "assistive robotic manipulator"), a wheelchair-mounted arm from Exact Dynamics of the Netherlands that retails for about $30, Prior SD, Warner P () Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. Proceedings of the 3rd Cambridge Workshop on Rehabilitation Robotics. Jackson RD () Robotics and its role in helping disabled people. IEE Engineering Science and Education Journal. 2. Introduction to Robotics, H. Harry Asada 1 Chapter 3 Robot Mechanisms A robot is a machine capable of physical motion for interacting with the environment. Physical interactions include manipulation, locomotion, and any other tasks changing the state of the environment or the state of the robot relative to the environment. A robot has some form of.

The first referenced rehabilitation manipulator was the CASE manipulator built in the early , which could move the user's paralyzed arm [11]. Mid saw the next stage of rehabilitation robotics in the form of a workstation based system designed by Roesler with five degree of freedom manipulator.   The Patient Assist Robotic Arm (PARA, pictured) is University of Pittsburgh-developed and -patented technology which is licensed to RE2, Inc., which stands for Robotics Engineering Excellence, a local Pittsburgh-based small RE2’s inception more than 10 years ago, the company has been developing and improving mobile robots used for dismantling explosive devices in . “Incorporating verbal feedback into a robot-assisted rehabilitation system,” in N, “Robust Fault Detection of Robotic Manipulator, T., Antonelli, G. and N. Sarkar, N. “An Experimental Investigation into the Fault-Tolerant Control of an Autonomous Underwater Vehicle,” in the Journal of Advanced Robotics, Vol. 15, No. 5, pp. Robotics (ISSN ) is a peer-reviewed, international journal presenting state-of-the-art research in the area of robotics, and is published quarterly online by IFToMM are affiliated with Robotics and its members receive a discount on the article processing charges.. Open Access —free for readers, with article processing charges (APC) paid by authors or their institutions.

TR explains how to take the R standard into account for existing robot systems. RIA TR R ("TR "), Collaborative Robot Safety. Explains safety requirements specific to collaborative robots and robot systems, and is supplemental to the guidance in ANSI/RIA R TR is the U.S. National Adoption of the ISO/TS. robotics, for the control theorist, for instance, has a quixotic and fanciful notion of AI. We might break robotics into five major areas: motion control, sensors and vision, planning and coordination, AI and decision-making, and manmachine interface. Without a good control system, a robotic device is useless.   You will find maxon motors in all kinds of rehabilitation and personal-assist robots, everything from exoskeletons and robotic physiotherapy devices for upper body, arm and hand rehabilitation, to prosthetics, and even a robotic stair-climbing wheelchair. But these are not the types of motors used in your standard industrial robots. maxon. Researchers from the University of South Florida's Rehabilitation Engineering program are looking for volunteers to participate in a research study for experimental evaluation of wheelchair-mounted robotic arms (WMRAs). Participants will operate commercially available and developmental WMRAs in a physical test environment.

Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator by Stephen D. Prior Download PDF EPUB FB2

This research describes the steps towards the development of a low-cost wheelchair-mounted manipulator for use by the physically disabled and elderly. A detailed review of world rehabilitation robotics research has been conducted, covering fifty-six projects. This identified the main areas of research, their scope and results.

Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. Thesis (Thesis) Find all citations by this author (default). The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users.

The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other by: Investigations into the design of a wheelchair-mounted rehabilitation Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator book manipulator a critical investigation of past and present wheelchair-mounted robotic arm projects was undertaken.

The integration of rehabilitation robotic manipulators into the daily lives of the physically disabled and elderly will significantly influence the Author: Stephen D. Prior. There has been significant progress in bringing commercially-viable wheelchair mounted robotic arms (WMRA) into the marketplace in the past 30 years.

system, the same manipulator is now mounted onto an electric wheelchair as described in the current paper. Methods Central to the Institute’s design philosophy [3] is the involvement of users at all stages of a device’s development.

In the case of the wheelchair-mounted robot project we have been in contact with about 30 volunteers. Purpose. The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces.

The device can be used for both stand-pivot transfers and fully dependent transfers, where the. This paper describes the research methods required for the development and validation of a user interface for a wheelchair mounted manipulator for use by severely disabled persons.

It explains the construction of the interface using tasks to define the user interface architecture. It outlines the experiments used to evaluate the user responses and draws conclusions about the effectiveness of. Robotics in Rehabilitation Wheelchair-mounted manipulators show an increase in interest not only through the manipulator itself, but also through the enhancements of the wheelchair control by providing it with sensors and control systems like any mobile robotic base [10].

The design of the book gripper resulted mainly from the user. Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. of an adaptable control system and user interface for a wheelchair-mounted robotic manipulator. Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator, ().

Preliminary evaluation of the helping hand electro-mechanical arm. Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. SD Prior. Middlesex University, Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator. SD Prior.

Middlesex University, Control of the user interface may be the major barrier to using a wheelchair-mounted robotic manipulator (WMRM) for people with upper extremity impairments when performing activities of daily living (ADL). The user interface is supposed to allow the user to focus more on the tasks to be performed instead of how to control the robot.

Evaluation of a robotic workstation for the disabled M. Hillman and J. Jepson Bath Institute of Medical Engineering, Wolfson Centre, Royal United Hospital, Bath BA1 3NG, UK ABSTRACT Experience with potential users is vital at all stages of the design of equipment for the disabled, not least in the field of rehabilitation robotics.

This paper describes the development of a control user interface for a wheelchair-mounted manipulator for use by severely disabled persons. It explains the construction of the interface using tasks to define the user interface architecture.

The prototype robot used several gesture recognition systems to achieve a level of usability better than other robots used for rehabilitation at the time. Rehabilitation robot, any automatically operated machine that is designed to improve movement in persons with impaired physical functioning.

There are two main types of rehabilitation first type is an assistive robot that substitutes for lost limb movements. An example is the Manus ARM (assistive robotic manipulator), which is a wheelchair-mounted robotic arm that is controlled.

The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult. The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking, and high robustness, whereby the high bandwidth for flexible-joint robot is the most challenging issue.

The field of rehabilitation robotics has emerged to address the growing desire to improve therapy modalities after neurological disorders, such as a stroke. For rehabilitation robots to be successful as clinical devices, a number of mechanical design challenges must be addressed, including ergonomic interactions, weight and size minimization.

Robots are necessary for this. The robot consists of a mechanical manipulator, a control, and a programming system.

It includes the manipulators and robots dedicated to support surgery, therapy, prosthetics, and rehabilitation. Medical robots improve quality and create an opportunity to. wheelchair-mounted manipulator designed expressly as a rehabilitation robot, not adapted from a design from another field.

However, in between, several other major programs were begun. Inat Stanford University, and then with decades-long funding from the US Department of Veterans Affairs, Larry Leifer started the vocational as.

A robotic manipulator attached to a power wheelchair could enhance the manipulation functions of an individual with a disability. In this thesis, a procedure is developed for the kinematic analysis and evaluation of a wheelchair mounted robotic arm.

In addition to developing the analytical procedure, the manipulator is evaluated, and. people. The Raptor, a wheelchair mounted robot arm manufactured by Phybotics [Phybotics ], has four degrees of freedom (DoF) and a two-fingered gripper for manipulation; it moves by joint reconfiguration, does not have joint encoders, and cannot be preprogrammed in the fashion of industrial robotic arms [Alqasemi et al.

Design of Rehabilitation Robot The first robotic assistive device, MIT Manus, employs an impedance controller for assisting the movement of the patient’s arm to the target location.

It is used in an active assisted mode, where the movement and target position can be visualized by the patient.

The optimal control problem is converted into a discrete parameter optimization and an efficient gradient-based algorithm is used to solve it.

Motion capture data from an unimpaired human subject is compared to the simulation results from the dynamic motion optimization. Use of Dynamic Motion Optimization in the Design of Robotic Gait.

• Introduction to Robotics: Mechanics and Control John J. Craig • Robot modeling and control Mark W. Spong, Seth Hutchinson, M. Vidyasagar • A mathematical introduction to robotic manipulation Richard M. Murray, Zexiang Li, S.

Shankar Sastry • Springer handbook of robotics. for rehabilitation of neurologic impairments would be pos-sible using mechatronics, we began work on an upper limb rehabilitation robot in This paper presents the devel-opment of, and our clinical experiences with, three genera-tions of therapy robots.

Robotics is an interdisciplinary research area at the interface of computer science and engineering. Robotics involves design, construction, operation, and use of goal of robotics is to design intelligent machines that can help and assist humans in their day-to-day lives and keep everyone safe.

Robotic Solutions in Pediatric Rehabilitation Michael Bailey-Van Kuren 2. Biomechanical Constraints in the Design of Robotic Systems for Tremor Suppression Juan-Manuel Belda-Lois, Álvaro Page, José-María Baydal-Bertomeu, Rakel Poveda and Ricard Barberà 3.

Robotics and Virtual Reality Applications in Mobility Rehabilitation Gathers the proceedings of the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators (ROMANSY), held in Sapporo, Japan, on September 20–24, ; Includes topics such as novel robot design, humanoid robots, bio-robotics, multi-robots, and sensor systems for robots and perception ; Written by leading experts in the field.

of five industrial robot manipulator training devices were modified for use by advanced Duchenne muscular dystrophy patients. Six patients with only residual finger movement, three of whom were dependent on respiratory support, mastered the use of these devices.

The four patients with long-term access employed their manipulators for facilitation of activities of daily living an average of 8 h. Kinova is a Canadian company engaged into the design and manufacture of innovative solutions in the field of personal robotics.

The team of experts at Kinova is dedicated to offer practical robotic platforms solving real and concrete problematic of daily life, especially in rehabilitation.Wheelchair-mounted robotic arm controlled by thought alone Engineering’s Center for Rehabilitation Engineering and Technology.

robotic systems that maximize the manipulation .It provides an excellent perspective on this complex topic, bringing together hardware, theory, design, and application seamlessly.

This book is composed of eight chapters and three appendices. In addition, this book is broken into two parts: 1) technologies and systems (Chapters 1–5) and 2) integrated tactile sensing (Chapters 6–8).