Asibot: Robot portátil de asistencia a discapacitados. concepto, arquitectura de control y evaluación clínica

Jardón, Alberto; Giménez, Antonio; Correal, R.; Martínez, Santiago; Balaguers, Carlos

doi:10.1016/s1697-7912(08)70144-4

Cited by 13 publications

(10 citation statements)

References 6 publications

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“…Se diseñó una arquitectura de control para Lázaro (ver Figura 11). Dicha arquitectura se puede considerar híbrida (Jardón, et al, 2008) (Vuković & Miljković, 2009) puesto que posee niveles donde se exhibe una jerarquía funcional (Ollero, et al, 1994) y, a su vez, hay un nivel reactivo basado en comportamientos (Stein & Paul, 1994) que permiten al robot efectuar diferentes acciones en respuesta a los estímulos que pudiera recibir a partir de sus sensores para completar la tarea asignada. La implementación de la arquitectura se hace desde dos entornos: un sistema local, incorporado dentro del robot; y un sistema remoto, ubicado en el ordenador externo.…”

Section: Arquitectura De Controlunclassified

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

García

Medina

Martínez

et al. 2017

Revista Iberoamericana de Automática e Informática Industrial R

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Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento.

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Section: Arquitectura De Controlunclassified

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

García

Medina

Martínez

et al. 2017

Revista Iberoamericana de Automática e Informática Industrial R

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“…The robotic system ASIBOT ( Fig. 1), described in [2,3,14,15], is a prototype totally developed by the research team RoboticsLab in the University Carlos III of Madrid. It is a significant advance in service robots [1,12,13], with 5 DOF and divided into two parts: the tips, that have a docking mechanism to connect the robot to the wall or a wheelchair, and the gripper.…”

Section: Description Of Asibotmentioning

confidence: 99%

Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People

Jardón

Monje

Balaguer

2012

Applied Bionics and Biomechanics

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In this work, an innovative robotic solution for human care and assistance is presented. Our main objective is to develop a new concept of portable robot able to support the elderly and those people with different levels of disability during the execution of daily tasks, such as washing their face or hands, brushing their teeth, combing their hair, eating, drinking, and bringing objects closer, among others. Our prototype, ASIBOT, is a five degrees of freedom (DOF) self-contained manipulator that includes the control system and electronic equipment on board. The main advantages of the robot are its light weight, about 11 kg for a 1.3 m reach, its autonomy, and its ability to move between different points (docking stations) of the room or from the environment to a wheelchair and vice versa, which facilitates its supportive functions. The functional evaluation of ASIBOT is addressed in this paper. For this purpose the robotic arm is tested in different experiments with disabled people, gathering and discussing the results according to a methodology that allows us to assess users' satisfaction.

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“…The robotic system ASIBOT (figure 2) [8] [9] [10] [11], totally developed by RoboticsLab at the University Carlos III of Madrid, is a significant advance in service robots [9] [12] [13]. All the electronic systems for activation, control, and communications are on board, which makes it the first portable climbing robot able to manipulate things.…”

Section: Description Of the Personal Assistance Robot Asibotmentioning

confidence: 99%

Usability assessment of ASIBOT: a portable robot to aid patients with spinal cord injury

Jardón

Gil

Peña

et al. 2010

Disability and Rehabilitation: Assistive Technology

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The usability concept refers to aspects related to the use of products that are closely linked to the user's degree of satisfaction. Our goal is to present a functional evaluation methodology for assessing the usability of sophisticated technical aids, such as a portable robot for helping disabled patients with severe spinal cord injuries. The specific manipulator used for this task is ASIBOT, a personal assistance robot totally developed by RoboticsLab at the University Carlos III of Madrid. Our purpose is also to improve some aspects of the manipulator according to the user's perception. For our case study a population of six spinal cord injury patients is considered. These patients have been suffering spinal cord injuries for a period of time longer than one year before the tests are carried out. The methodology followed for the information gathering is based on the Quebec User Evaluation of Satisfaction with assistive Technology (QUEST). Different daily functions, such as drinking, brushing one's teeth, and washing one's face, are considered to assess the user's perception when using ASIBOT as a technical aid. The human factor in this procedure is the main base to establish the specific needs and tools to make the end product more suitable and usable.

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Asibot: Robot portátil de asistencia a discapacitados. concepto, arquitectura de control y evaluación clínica

Cited by 13 publications

References 6 publications

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

Functional Evaluation of Asibot: A New Approach on Portable Robotic System for Disabled People

Usability assessment of ASIBOT: a portable robot to aid patients with spinal cord injury

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