Design and Control of an Autonomous Robot for Mobility-Impaired Patients
A novel autonomous mobile robotic arm is designed and developed that can autonomously follow mobility impaired patients and prevent backwards and sideways falls. The robot is designed with differentially driven wheels and an arm with an end-effector to stop falls but otherwise will not contact the s...
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| Published in | IFAC-PapersOnLine Vol. 54; no. 20; pp. 238 - 243 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
2021
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2405-8963 2405-8971 2405-8963 |
| DOI | 10.1016/j.ifacol.2021.11.181 |
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| Abstract | A novel autonomous mobile robotic arm is designed and developed that can autonomously follow mobility impaired patients and prevent backwards and sideways falls. The robot is designed with differentially driven wheels and an arm with an end-effector to stop falls but otherwise will not contact the subject. A closed control algorithm is initially developed and simulated to ensure the robot will be able to follow any feasible trajectory. The control algorithm is then simplified, implemented, and tested on the robot using only a Lidar device for distance and orientation measurements and feedback. The mobile base in combination with a servomotor and simple switches, operating the end-effector, are shown to successfully prevent backward and sideway falls in preliminary tests. |
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| AbstractList | A novel autonomous mobile robotic arm is designed and developed that can autonomously follow mobility impaired patients and prevent backwards and sideways falls. The robot is designed with differentially driven wheels and an arm with an end-effector to stop falls but otherwise will not contact the subject. A closed control algorithm is initially developed and simulated to ensure the robot will be able to follow any feasible trajectory. The control algorithm is then simplified, implemented, and tested on the robot using only a Lidar device for distance and orientation measurements and feedback. The mobile base in combination with a servomotor and simple switches, operating the end-effector, are shown to successfully prevent backward and sideway falls in preliminary tests. |
| Author | Deb, Aarya Lonner, Jess Ashrafiuon, Hashem Wypych, Zachery |
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| Cites_doi | 10.1109/ROBOT.2004.1308764 10.1111/jgs.15304 10.1093/ageing/32.3.338 10.1115/1.4035169 10.1111/j.1532-5415.2009.02365.x 10.5435/00124635-201107000-00003 10.1017/S0263574706003183 10.2522/ptj.20150010 10.1109/LRA.2019.2931267 10.1310/6GL4-UM7X-519H-9JYD 10.1109/TITB.2011.2178034 10.1016/j.jsams.2019.12.028 10.1109/TII.2016.2590339 |
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| Keywords | Lidar guided autonomy Mobile robotic arm mobility aid robots |
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| Title | Design and Control of an Autonomous Robot for Mobility-Impaired Patients |
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