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Design and user evaluation of a wheelchair mounted robotic assisted transfer device.

Grindle GG, Wang H, Jeannis H, Teodorski E, Cooper RA - Biomed Res Int (2015)

Bottom Line: The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology.Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

View Article: PubMed Central - PubMed

Affiliation: Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA ; Department of Rehabilitation Science and Technology, University of Pittsburgh, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA.

ABSTRACT

Purpose: The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings.

Method: A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.

Results: Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device.

Conclusions: Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

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An annotated solid model showing the key mechanical features of the RATD.
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Related In: Results  -  Collection


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fig1: An annotated solid model showing the key mechanical features of the RATD.

Mentions: The device can be controlled by two different methods by the caregiver: a switch pad or through a force sensing handle method called Direct Interaction. For the switch pad, the carriage and the 4 DOF of the arm are controlled individually with two switches for each DOF, one for each direction of motion. The hardware for the RATD does not have the ability to perform proportional speed control, so motor motion is either on or off. Direct interaction uses a load cell to receive caregiver force inputs through the control handle, visible in Figure 1. The force inputs are mapped to different DOF in an intuitive way to move the RATD. Once one DOF is activated, it locks out the other DOF until the force is removed. The algorithm and force mapping are described in detail by Jeannis et al. [25].


Design and user evaluation of a wheelchair mounted robotic assisted transfer device.

Grindle GG, Wang H, Jeannis H, Teodorski E, Cooper RA - Biomed Res Int (2015)

An annotated solid model showing the key mechanical features of the RATD.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4352417&req=5

fig1: An annotated solid model showing the key mechanical features of the RATD.
Mentions: The device can be controlled by two different methods by the caregiver: a switch pad or through a force sensing handle method called Direct Interaction. For the switch pad, the carriage and the 4 DOF of the arm are controlled individually with two switches for each DOF, one for each direction of motion. The hardware for the RATD does not have the ability to perform proportional speed control, so motor motion is either on or off. Direct interaction uses a load cell to receive caregiver force inputs through the control handle, visible in Figure 1. The force inputs are mapped to different DOF in an intuitive way to move the RATD. Once one DOF is activated, it locks out the other DOF until the force is removed. The algorithm and force mapping are described in detail by Jeannis et al. [25].

Bottom Line: The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology.Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

View Article: PubMed Central - PubMed

Affiliation: Human Engineering Research Laboratories, VA Pittsburgh Healthcare System, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA ; Department of Rehabilitation Science and Technology, University of Pittsburgh, 6425 Penn Avenue, Suite 400, Pittsburgh, PA 15232, USA.

ABSTRACT

Purpose: The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings.

Method: A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.

Results: Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device.

Conclusions: Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

Show MeSH