A WHEELCHAIR MOUNTED ASSISTIVE ROBOT

Abstract

A robotic manipulator has been mounted to an electric wheelchair to assist people with disabilities. Particular emphasis has been given to the constraints and requirements for wheelchair mounting. Background Many different approaches to assistive robotics have been both suggested and implemented. Whilst in some situations (for example a vocational setting) a fixed site workstation is suitable [1], in other cases (for example someone living independently in their own home) a mobile device [2] is more appropriate. An earlier project at our Institute implemented a low cost mobile robot by mounting a manipulator on a simple non-powered trolley base, which could be moved around the home by a carer. In order to extend the flexibility of this system, the same manipulator is now mounted onto an electric wheelchair as described in the current paper. development. In the case of the wheelchair-mounted robot project we have been in contact with about 30 volunteers, covering 5 disability groups. Of these a smaller number of local volunteers have been involved in more detailed discussions. We have also tried to involve disabled volunteer’s carers wherever possible, because they too are users of the device. In order to gauge volunteers ' reactions to a device before investing time and expense in producing a working prototype it is often valuable to build a model or full scale non-working mock up. In the case of this project, this was a valuable way of gaining an insight into how users might react to having a large robotic device mounted to their wheelchair. A fully working prototype is necessary to evaluate the functionality of a device. However, the prototype is not an end in itself but is only the first stage in making finished devices available to those who need them.