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
