Design and Development of the Personal Mobility and Manipulation Appliance

For people with significant mobility impairments who also have both lower and upper limb disability, there are few technology solutions. The aim of this article is to describe the design and development of the Personal Mobility and Manipulation Appliance, a device that provides coordinated mobility and bimanual manipulation for people with both lower and upper limb impairment. The Personal Mobility and Manipulation Appliance is integrated from several commercial products and custom technologies, including two robotic arms mounted on a mobile robotic base. It has three primary operating modes: local user, remote user, and autonomous. It also has a cooperative control mode where two or more of the primary modes can be used simultaneously. The device was evaluated in a kitchen and was able to perform several complex tasks. Future work should focus on interface improvements and evaluations by end users.

[1]  Geoffrey A. Hollinger,et al.  HERB: a home exploring robotic butler , 2010, Auton. Robots.

[2]  Redwan Alqasemi,et al.  Redundancy Control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System , 2007, 2007 International Symposium on Computational Intelligence in Robotics and Automation.

[3]  B J F Driessen,et al.  MANUS—a wheelchair-mounted rehabilitation robot , 2001, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[4]  Siddhartha S. Srinivasa,et al.  Manipulation planning with Workspace Goal Regions , 2009, 2009 IEEE International Conference on Robotics and Automation.

[5]  H. Kwee,et al.  Adapting the control of the MANUS manipulator for persons with cerebral palsy: An exploratory study , 2002 .

[6]  Z. Zenn Bien,et al.  Visual servoing for a user's mouth with effective intention reading in a wheelchair-based robotic arm , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  Rory A. Cooper,et al.  Trends and Issues in Wheelchair Technologies , 2008, Assistive technology : the official journal of RESNA.

[8]  Z. Zenn Bien,et al.  Multi sensors-based approach for intention reading with soft computing techniques , 2003, The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03..

[9]  Rory A. Cooper,et al.  Vibration-based terrain classification for electric powered wheelchairs , 2008 .

[10]  R. Alqasemi,et al.  Maximizing Manipulation Capabilities for People with Disabilities Using a 9-DoF Wheelchair-Mounted Robotic Arm System , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[11]  R. Alqasemi,et al.  Wheelchair-Mounted Robotic Arms: Design and Development , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[12]  Redwan Alqasemi,et al.  Control of a 9-DoF Wheelchair-Mounted Robotic Arm System , 2023, Proceedings of the 20th Florida Conference on Recent Advances in Robotics.

[13]  M. Mokhtari,et al.  Designing multimodal interaction for assistive robotic arm , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[14]  L. Delahoche,et al.  Navigation paradigm of a prehensive robotics assistance , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[15]  R. Alqasemi,et al.  Design and Construction of a Robotic Gripper for Activities of Daily Living for People with Disabilities , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[16]  Agnès Roby-Brami,et al.  A multi-disciplinary approach in evaluating and facilitating the use of the Manus robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[17]  Rajiv V. Dubey,et al.  Using biological approaches for the control of a 9-DoF wheelchair-mounted robotic arm system: Initial experiments , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[18]  James J. Kuffner,et al.  OpenRAVE: A Planning Architecture for Autonomous Robotics , 2008 .

[19]  Dan Ding,et al.  Enhanced bimanual manipulation assistance with the Personal Mobility and Manipulation Appliance (PerMMA) , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  R. Simpson,et al.  How many people would benefit from a smart wheelchair? , 2008, Journal of rehabilitation research and development.

[21]  Hongwu Wang,et al.  Real-time model based electrical powered wheelchair control. , 2009, Medical engineering & physics.

[22]  Redwan Alqasemi,et al.  Design, Construction and Control of a 7 DoF Wheelchair-Mounted Robotic Arm , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  S. Lelandais,et al.  Improvements of Object Grabbing Method by Using Color Images and Neural Networks Classification , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[24]  P. Athanasiou,et al.  Assistive Robotic Manipulator Interface , 2006, Proceedings of the IEEE 32nd Annual Northeast Bioengineering Conference.

[25]  R.M. Alqasemi,et al.  Analysis, evaluation and development of wheelchair-mounted robotic arms , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[26]  Cyril Cauchois,et al.  Robotic assistance: an automatic wheelchair tracking and following functionality by omnidirectional vision , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Redwan Alqasemi,et al.  Design, construction and testing of a wheelchair-mounted robotic arm , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[28]  F. Liefhebber,et al.  Evaluation of new user interface features for the MANUS robot arm , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[29]  Siddhartha S. Srinivasa,et al.  Manipulation planning with caging grasps , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[30]  Won-Kyung Song,et al.  KARES: intelligent rehabilitation robotic system for the disabled and the elderly , 1998, Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Vol.20 Biomedical Engineering Towards the Year 2000 and Beyond (Cat. No.98CH36286).

[31]  G. Honderd,et al.  Rehabilitation robotics: the MANUS concept , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[32]  Z. Zenn Bien,et al.  Visual servoing for human-robot interaction in the wheelchair-based rehabilitation robot , 2000, Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics. 'cybernetics evolving to systems, humans, organizations, and their complex interactions' (cat. no.0.

[33]  M. Ghorbel,et al.  Toward a generic human machine interface for assistive robots: the AMOR project , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[34]  J. Sijs,et al.  Vision-based control of the Manus using SIFT , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[35]  F. Liefhebber,et al.  A framework of interface improvements for designing new user interfaces for the MANUS robot arm , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[36]  Rory A. Cooper,et al.  The design of a smart controller for electric powered wheelchairs , 2008 .

[37]  Bessam Abdulrazak,et al.  Implementation of a path planner to improve the usability of a robot dedicated to severely disabled people , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[38]  L Fehr,et al.  Adequacy of power wheelchair control interfaces for persons with severe disabilities: a clinical survey. , 2000, Journal of rehabilitation research and development.

[39]  J. A. van Woerden,et al.  Collaborative Control of the Manus Manipulator , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[40]  Siddhartha S. Srinivasa,et al.  The robotic busboy: Steps towards developing a mobile robotic home assistant , 2008 .

[41]  Dong-Soo Kwon,et al.  Development of a wheelchair-based rehabilitation robotic system (KARES II) with various human-robot interaction interfaces for the disabled , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[42]  Redwan Alqasemi,et al.  Combined Mobility and Manipulation Control of a Newly Developed 9-DOF Wheelchair-Mounted Robotic Arm System , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[43]  Rajiv Dubey,et al.  Implementation of a P-300 Brain Computer Interface for the Control of a Wheelchair Mounted Robotic Arm System , 2008 .

[44]  Siddhartha S. Srinivasa,et al.  BiSpace Planning: Concurrent Multi-Space Exploration , 2008, Robotics: Science and Systems.

[45]  Oliver Lang,et al.  A FRIEND for assisting handicapped people , 2001, IEEE Robotics Autom. Mag..

[46]  S. Lelandais,et al.  Localization Method for a Rehabilitation Mobile Robot using Visual and Ultrasonic Information , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[47]  Siddhartha S. Srinivasa,et al.  Randomized path planning for redundant manipulators without inverse kinematics , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.