rehabilitation robotics Flashcards
what is the hands-free wheelchair project between USF: CARRT and the School of Theater and Dance?
first prototype converted a wheelchair into a large joystick, where leaning to any direction would control the motion
what is the hands free wheel chair prototype 2?
- can be used on almost any commercial powered wheelchair
- provides wireless control using Bluetooth
hands-free wheelchair future
- add an input data source for feedback in the form of ultrasonic sensors mounted around the wheelchair
- the sensors will be used to detect obstacles to be actively avoided
examples of robotic manipulation aids
- task-specific devices - powered feeders, page turners
- workstation-based manipulation aides - robotics manipulator built into a workstation
- wheelchair mounted manipulation aides - at USF WMRA (wheelchair mounted robotic arm)
pros and cons of the DeVar workstation
(+) excels at one task/task set
(-) confines the user independence to one location
cons of the MySpoon Feeder assistive feeder
(-) must be installed/set up by a technician
(-) user cannot relocate the device
pros of mobile robots and manipulators
- interaction at a distance
- free to move about the environment
- safe manipulators
- control and automation in development
pros of wheelchair-mounted robotic arms (WMRA)
- reference frame is natural
- mounting location convenient for personal tasks
- applicable for general ADLs
- safe manipulators
- social impact
examples of WMRA
- WMRA II second prototype
- iARM by Exact Dynamics
- JACO by Kinova
key points about the iARM WMRA
- has a large reach and is durable and customizable
- should adjust control scheme, eliminate internal singularities, and increase aesthetics
key points about the JACO WMRA
-responsive, has an effective controller, and is aesthetically pleasing
- should adjust finger construction
what are WMRAs? what do they do/help with?
- assistive devices
- designed for people with mobility and upper limbs motion limitations
- can autonomously execute ADL tasks, greatly reduce the cognitive burden on the user
what type of systems do the WMRA designs that have been designed use?
both use custom 7 DOF robotic arm and 2 DOF power wheelchair for combined 9 DOF
WMRA gripper design
- 1DOF parallel motion mechanism
- variable 0-10 lb force
- can handle switches, push buttons, spherical and lever handles, round, square, tiny, and thin objects
- compatible with the WMRA control system
what is a brain-computer interface (BCI)?
a vision-based system for communicating the needs of a person with severe disabilities (ex: ALS) to a computer using the brain’s electrical activity
how does the BCI work?
- flashing objects stimulate the user’s EEG signal
- the user sees likely stimuli as well as unlikely stimuli
- the user selects a desired object/task, then the robot performs the task autonomously
what is the BaxBot?
- Baxter robot mounted on PowerBot mobile platform
- navigation through an unstructured environment and mapping/localization
- interactive (can play games like Connect4)
how does the human-robot iPhone interface work?
- smartphones already include useful sensors that can be used for control
- user-friendly interface is designed using the iPhone’s accelerometer, gyroscope, and touchscreen
what is assistive rehabilitation?
rehabilitation that guides the user, trains coordination
what is resistive rehabilitation?
rehabilitation where the user pushes against force, trains strength
how long should you train in rehabilitation?
- training daily for short periods of time is better than longer sessions every other day
- home-based training is ideal, but robots used in clinics are expensive
what is bimanual upper limb training?
- physical coupling provides same motions and feedback for both limbs
- tight neutral coupling allows the same motor commands to be duplicated on the opposite side of the body
