A Mobile Robotic Arm for People with A Mobile Robotic Arm for People with Severe DisabilitiesSevere Disabilities

Authors ： Hideyuki Uehara Hiroki Higa Takashi Soken

Speaker ：李宗明 M99G0103

Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, The University of Tokyo, Tokyo, Japan, September 26-29, 2010

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OutlineOutlineIntroduction

System configuration

Methods

Results and discussion

Conclusion

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IntroductionIntroduction

By the cause of stroke or spinal cord injury, there are many people who have paralyzed extremities and who need someone’s help. Some of them have strong-minded to be independent of others and to live their own lives.

In step with the advances in medical technology, people live longer than they used to. Some of nursing care helpers are getting older and it is difficult for them to take good care of people with disabilities due to their advanced ages.

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IntroductionIntroduction

Some robots for assistive technology have been developed. But those robots are too large and heavy to use in a restricted housing environment.

It is difficult for those with disabilities to purchase and maintain them. In addition, they can hardly have their meals out with these robots.

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IntroductionIntroduction

To realize and to provide a low-cost and useful mobile robotic arm system for people with severe disabilities to drinking tea task and eating task.

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System configurationSystem configurationSystem configuration of mobile robotic arm for

people with severe disabilities.

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System configurationSystem configurationSeven degrees of freedom robotic arm

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System configurationSystem configurationMobile robotic arm specifications

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System configurationSystem configurationGripper (a) when closing, and (b) when grasping

a 350-ml can. The gripper is detachable from the main body.

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System configurationSystem configurationController for people with disabilities

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MethodsMethodsDrinking tea task ： The subject was required to

drink tea with the mobile robotic arm.

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MethodsMethodsExperimental result of drinking tea task. The

elapsed time was indicated in each image at the upper left corner.

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MethodsMethodsEating task ： The subject was asked to eat some

foods with the mobile robotic arm. Such as rice gruel, porridge, Chinese dumpling and shomai.

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MethodsMethodsExperimental result of eating task. The elapsed

time was indicated in each image at the upper left corner.

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Results and discussionResults and discussionThe elapsed time for drinking tea was 25 s. The

subject made no error in operation during this task. the subject could appropriately drink tea with the mobile robotic arm system.

From the experimental result, it was found that system allowed users to have their meals at their paces and to use the commercial spoon and fork when eating.

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ConclusionConclusionThis system is low-power, small, cost-effective,

and excellent real-time interrupt response. It is embedded to the system.

Those with severe disabilities will be more comfortable to manipulate this system, which leads to a better option for them. An optimum controller for the mobile robotic arm system is under ongoing consideration.

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