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A Mobile Robotic Arm for People with
Severe 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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Outline
 Introduction
 System
configuration
 Methods
 Results
and discussion
 Conclusion
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Introduction

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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Introduction

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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Introduction

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 configuration

System configuration of mobile robotic arm for
people with severe disabilities.
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System configuration

Seven degrees of freedom robotic arm
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System configuration

Mobile robotic arm specifications
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System configuration

Gripper (a) when closing, and (b) when grasping
a 350-ml can. The gripper is detachable from the
main body.
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System configuration

Controller for people with disabilities
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Methods

Drinking tea task：The subject was required to drink
tea with the mobile robotic arm.
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Methods

Experimental result of drinking tea task. The
elapsed time was indicated in each image at the
upper left corner.
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Methods

Eating 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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Methods

Experimental result of eating task. The elapsed
time was indicated in each image at the upper
left corner.
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Results and discussion

The 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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Conclusion

This 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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