A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing PDF Download

Author: Redwan Alqasemi
Publisher:
ISBN: 9789533070704
Category : Technology
Languages : en
Pages :

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A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing.

Author: Redwan Alqasemi
Publisher:
ISBN: 9789533070704
Category :
Languages : en
Pages :

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Book Description
A wheelchair-mounted robotic arm (WMRA) was designed and built to meet the needs of mobility-impaired persons, and to exceed the capabilities of current devices of this type. Combining the wheelchair control and the arm control through the augmentation of the Jacobian to include representations of both resulted in a control system that effectively and simultaneously controls both devices at once. The control system was designed for coordinated Cartesian control with singularity robustness and task-optimized combined mobility and manipulation. Weighted Least Norm solution was implemented to prioritize the motion between different arm joints and the wheelchair. Modularity in both the hardware and software levels allowed multiple input devices to be used to control the system, including the Brain-Computer Interface (BCI). The ability to communicate a chosen character from the BCI to the controller of the WMRA was presented, and the user was able to control the motion of WMRA system by focusing attention on a specific character on the screen. Further testing of different types of displays (e.g. commands, picture of objects, and a menu display with objects, tasks and locations) is planned to facilitate communication, mobility and manipulation for people with severe.

Author: Pablo Diez
Publisher: Academic Press
ISBN: 0128128933
Category : Technology & Engineering
Languages : en
Pages : 494

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Book Description
Smart Wheelchairs and Brain-Computer Interfaces: Mobile Assistive Technologies combines the fields of neuroscience, rehabilitation and robotics via contributions from experts in their field to help readers develop new mobile assistive technologies. It provides information on robotics, control algorithm design for mobile robotics systems, ultrasonic and laser sensors for measurement and trajectory planning, and is ideal for researchers in BCI. A full view of this new field is presented, giving readers the current research in the field of smart wheelchairs, potential control mechanisms and human interfaces that covers mobility, particularly powered mobility, smart wheelchairs, particularly sensors, control mechanisms, and human interfaces. Presents the first book that combines BCI and mobile robotics Focuses on fundamentals and developments in assistive robotic devices which are commanded by alternative ways, such as the brain Provides an overview of the technologies that are already available to support research and the development of new products

Author: Christine King
Publisher:
ISBN: 9783659882333
Category :
Languages : en
Pages : 184

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Author: Briana Landavazo
Publisher:
ISBN:
Category :
Languages : en
Pages : 132

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Book Description
Due to the hands-free, non-invasive nature of electroencephalography (EEG) based control, research into brain-computer interface (BCI) systems has been a topic of interest in robotics applications. BCI systems have been studied in several applications including designing simple prosthesis, wheelchairs and virtual navigation, but its scope has often been constrained by several limiting factors. These factors include the need for lengthy training per each specific action desired, poor accuracy when dealing with multiple potential outputs and differences in brain signal behavior for each participant that make finding patterns that work for all individual test subjects a challenge. This research will focus on a method of controlling a robotic arm and dexterous hand system using a combination of BCI and machine learning to quickly train a model to recognize patterns from raw EEG data from a specific individual. This model will be tailored to that individual, allowing the subject to send a high-level input to initiate an adaptive command. The high-level adaptive command considers not only a broad intention of a desired action through EEG signals, but also sensor inputs and other user inputs to perform a desired action effectively. Research will be presented on a system wide implementation of a prototype of this design. The proposed brain-controlled robot is comprised of several major subsystems including the high level BCI input, a 4-degree of freedom (DOF) robot arm system with microcontroller, a 3-wheel omnidirectional mobile platform, a 9-DOF Brunel robot hand, and a MATLAB interface with an interactive GUI. The system receives inputs from an Xbox Kinect color and depth camera and respective microcontrollers that communicate with each other through serial ports, Bluetooth, and wired connections and with the environment through a force sensor, a Kinect depth sensor, and inputs from a MATLAB GUI and Xbox controller. This thesis research demonstrates the development of this multi degree of freedom integrated mobile robotic arm and gripper system that uses EEG data, Kinect image and depth inputs, and a force sensor to successfully control its operation after being trained using one machine learning session. A case study was performed where a subject was asked to record at least 25 sessions of each BCI command. 25% of the data from each test set was set aside for testing purposes. For a total of four different cases, an accuracy of 80% was reached whereas for five different cases, an accuracy of 76% was obtained. Motion of the robotic arm was simulated in MATLAB and successfully replicated in the robot prototype for grabbing different sized objects.

Author: Tijana Ivancevic
Publisher: Springer
ISBN: 3662440962
Category : Technology & Engineering
Languages : en
Pages : 224

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Book Description
This book is designed to help athletes and individuals interested in high sports performance in their journey towards the perfection of human sports abilities and achievements. It has two main goals: accelerating the acquisition of motor skills and preparing and vigilantly reducing the recovery time after training and competition. The Diamond Sports Protocol (DSP) presents state-of-the-art techniques for current sport and health technologies, particularly neuromuscular electrical stimulation (Sports Wave), oxygen infusion (Oxy Sports), infrared (Sports Infrared Dome) and lactic acid cleaning (Turbo Sports). The book suggest DSP as an essential part of every future athlete's training, competition and health maintenance. The book is for everyone interested in superior sports performance, fast and effective rehabilitation from training and competition and sports injury prevention.

Author: Ana Catalina Torres Rocco
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: A Wheelchair-Mounted Robotic Arm (WMRA) was designed to aid people with limited or no upper-limb usage to accomplish activities of daily living (ADLs). The primary objective of this research was to enhance the performance of the WMRA by improving the communication protocols and functions between the hardware and software used for its control. Previously, the control algorithm of the robotic arm was tested in simulation and in the physical arm. These implementations required a combination of Matlab and C++ language and introduced some software instability under Windows operating system. To improve the performance of the WMRA, the programs for hardware control were separated from the ones intended for simulation. The control algorithm of the arm was rewritten using C++ language to facilitate the communication with the controller boards and to make the system more stable and reliable. As a result, the communication delays were decreased since the interfaces between different programs is no longer needed. Preliminary tests were performed to demonstrate the stability and reliability of the new control algorithm. The overall response of the control implementation was enhanced and the algorithm routines and optimization procedures achieved the same goals with more efficiency. Accuracy and repeatability tests were performed, and data was collected and analyzed.

Author: George A. Tsihrintzis
Publisher: Springer Nature
ISBN: 3030871320
Category : Technology & Engineering
Languages : en
Pages : 317

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Book Description
This book aims at exposing its readers to some of the most significant advances in assistive technologies. Assistive technologies develop devices to assist vulnerable people, including elderly people, people with cognitive disabilities such as memory problems or dementia, and people with functional disabilities such as those needing support in toileting, moving around, eating, bathing, dressing, grooming, and taking personal care. The ever-increasing life expectancy and world population, along with the emergence of new diseases and the regrettable continuation of armed conflicts, press for development and availability of assistive technologies that offer people in need the opportunity to live secure and controlled lives with more active participation in society and at a reduced assistive cost. This task can be accomplished only with more advanced devices than traditional-powered wheelchairs or eating/drinking devices, including prosthetics, exoskeletons, visual and hearing aids, cognitive aids, and devices enhanced with artificial intelligence. The book consists of an editorial note and an additional twelve (12) chapters, all of which have been written by authors who work on the corresponding chapter theme and are recognized for their significant research contributions. In more detail, the chapters in the book are organized into four parts, namely (i) Advances in Assistive Technologies in Healthcare, (ii) Advances in Assistive Technologies in Medical Diagnosis, (iii) Advances in Assistive Technologies in Mobility and Navigation, and (iv) Advances in Privacy and Explainability in Assistive Technologies. This research book is directed towards professors, researchers, scientists, engineers, and students in assistive technologies. It is also directed towards readers who come from other disciplines and is interested in becoming versed in some of the most recent assistive technologies. An extensive list of bibliographic references at the end of each chapter guides its readers to probe further into the application areas of interest to them.

Author: Florian Röhrbein
Publisher: Frontiers Media SA
ISBN: 2889668983
Category : Science
Languages : en
Pages : 159

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Author: Punya A. Basnayaka
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.