Personal Mobility and Manipulation Appliance—Design, Development, and Initial Testing

Grindle, Garrett G.; Vázquez, J. J. Rodríguez; Xu, Jinyou; Wang, Hongwu; Candiotti, Jorge; Chung, Chul; Salatin, Benjamin; Houston, E.; Kelleher, Annmarie; Cooper, Rory A.; Teodorski, Emily; Beach, Scott R.

doi:10.1109/jproc.2012.2200537

Cited by 26 publications

(16 citation statements)

References 11 publications

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“…The MEBot (Figure 2) was designed based on feedback from the participatory design study and development of the PerMMA II (Figure 3) [12,[20][21]. Several advanced applications were developed to improve the outdoor capabilities of an EPW, including selectable driving wheel location [20], self-leveling [20], curb climbing [22], traction control [23], and two wheel balance.…”

Section: Phase IImentioning

confidence: 99%

“…Unfortunately, when EPW users venture into the outdoor environment, they may encounter conditions or obstacles that may lead to them becoming stuck or tipping over their wheelchair, causing serious injury or death [10]. Such conditions may include uneven terrain, steep slopes, slippery surfaces, cross slopes, and architectural obstacles such as curbs and steps [11][12].…”

Section: Introductionmentioning

confidence: 99%

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Participatory design and validation of mobility enhancement robotic wheelchair

et al. 2015

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Abstract-The design of the mobility enhancement robotic wheelchair (MEBot) was based on input from electric powered wheelchair (EPW) users regarding the conditions they encounter when driving in both indoor and outdoor environments that may affect their safety and result in them becoming immobilized, tipping over, or falling out of their wheelchair. Phase I involved conducting a participatory design study to understand the conditions and barriers EPW users found to be difficult to drive in/over. Phase II consisted of creating a computer-aided design (CAD) prototype EPW to provide indoor and outdoor mobility that addressed these conditions with advanced applications. Phase III involved demonstrating the advanced applications and gathering feedback from end users about the likelihood they would use the advanced applications. The CAD prototype incorporated advanced applications, including selfleveling, curb climbing, and traction control, that addressed the challenging conditions and barriers discussed with EPW users (n = 31) during the participatory design study. Feedback on the CAD design and applications in phase III from end users (n = 12) showed a majority would use self-leveling (83%), traction control (83%), and curb climbing (75%). The overall design of MEBot received positive feedback from EPW users. However, these opinions will need to be reevaluated through user trials as the design advances.

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Section: Phase IImentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Participatory design and validation of mobility enhancement robotic wheelchair

et al. 2015

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“…The Strong Arm mounts to the same track for positioning with respect to the seat as the assistive robotic manipulators on our Personal Mobility and Manipulation Appliance Strong Arm design and attachment system for mounting on PerMobil C500 power wheelchair (PerMobil Inc; Lebanon, Tennessee). [12]. The purpose of the track is to increase the robot's range of motion as well as allow the robot to be stored behind the EPW when not in use.…”

Section: Design Of Strong Armmentioning

confidence: 99%

“…In addition, many living spaces (e.g., bathrooms, bedrooms) become overly cramped when trying to position a wheelchair, lifting device, and assistant together, which greatly constrains the manner in which dependent or assisted transfers can be performed and affects safety. An electrical powered wheelchair (EPW)-mounted, mobile, robotic-assisted transfer device called the Strong Arm was designed and developed based on our literature review and user studies [12]. A prototype of the Strong Arm has been fabricated.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

Wang

Tsai²,

Jeannis³

et al. 2014

J Rehabil Res Dev

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Abstract-The ability of people with disabilities to live in their homes and communities with maximal independence often hinges, at least in part, on their ability to transfer or be transferred by an assistant. Because of limited resources and the expense of personal care, robotic transfer assistance devices will likely be in great demand. An easy-to-use system for assisting with transfers, attachable to electrical powered wheelchairs (EPWs) and readily transportable, could have a significant positive effect on the quality of life of people with disabilities. We investigated the stability of our newly developed Strong Arm, which is attached and integrated with an EPW to assist with transfers. The stability of the system was analyzed and verified by experiments applying different loads and using different system configurations. The model predicted the distributions of the system's center of mass very well compared with the experimental results. When real transfers were conducted with 50 and 75 kg loads and an 83.25 kg dummy, the current Strong Arm could transfer all weights safely without tip-over. Our modeling accurately predicts the stability of the system and is suitable for developing better control algorithms to enhance the safety of the device.

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“…Examples of such systems are the Deskto Vocational Assistant Robot, the Professional Vocational Assistant Robot, the "My Spoon", the Care-O-bot 3, the PR-2, the Manus ARM, the DORA and the JACO for enhancing manipulation assistance [7] and the TopChair, the Explorer, and the iBOT for increasing mobility support to assist wheelchair user climbing stairs [8]. However, few systems have been developed and evaluated with integrated mobility and manipulation support.…”

Section: Introductionmentioning

confidence: 99%

The Personal Mobility and Manipulation Appliance (PerMMA): A robotic wheelchair with advanced mobility and manipulation

Wang

Grindle

Candiotti

et al. 2012

2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-The Personal Mobility and ManipulationAppliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

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Personal Mobility and Manipulation Appliance—Design, Development, and Initial Testing

Cited by 26 publications

References 11 publications

Participatory design and validation of mobility enhancement robotic wheelchair

Participatory design and validation of mobility enhancement robotic wheelchair

Stability analysis of electrical powered wheelchair-mounted robotic-assisted transfer device

The Personal Mobility and Manipulation Appliance (PerMMA): A robotic wheelchair with advanced mobility and manipulation

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