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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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A block diagram describing RATD's motors, sensors, and associated electronics.
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Related In: Results  -  Collection


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fig4: A block diagram describing RATD's motors, sensors, and associated electronics.

Mentions: The core electronic components that drive the arm consist of a single board computer (SBC) (Model Cobra, VersaLogic, Tualatin, OR), an analog to digital converter board (Model VCM-DAS-2, VersaLogic, Tualatin, OR), an SEI bus to USB converter (Model SEI-USB, US Digital, Vancouver, WA), and a custom designed relay board, as shown in Figure 4. The SBC provides the programmability, memory storage, and data bus capability to the system. The relay board is used to translate low current digital logic signals from the SBC into high current switching needed to control the motors and linear actuators that power the robot's joints. In addition to receiving computer based signals, the relay board is also capable of accepting inputs from a mechanical switch array to drive each joint. The analog to digital converter is used to digitize the signals from the load cells for use in the control algorithm. Similarly, the SEI to USB converter receives the signals from the encoder network and allows them to be read through a USB port on the SBC to be used in control algorithms. The electronics are powered via a DC-DC converter, which steps wheelchair batteries from 24 v down to ±12 v and 5 v.


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)

A block diagram describing RATD's motors, sensors, and associated electronics.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig4: A block diagram describing RATD's motors, sensors, and associated electronics.
Mentions: The core electronic components that drive the arm consist of a single board computer (SBC) (Model Cobra, VersaLogic, Tualatin, OR), an analog to digital converter board (Model VCM-DAS-2, VersaLogic, Tualatin, OR), an SEI bus to USB converter (Model SEI-USB, US Digital, Vancouver, WA), and a custom designed relay board, as shown in Figure 4. The SBC provides the programmability, memory storage, and data bus capability to the system. The relay board is used to translate low current digital logic signals from the SBC into high current switching needed to control the motors and linear actuators that power the robot's joints. In addition to receiving computer based signals, the relay board is also capable of accepting inputs from a mechanical switch array to drive each joint. The analog to digital converter is used to digitize the signals from the load cells for use in the control algorithm. Similarly, the SEI to USB converter receives the signals from the encoder network and allows them to be read through a USB port on the SBC to be used in control algorithms. The electronics are powered via a DC-DC converter, which steps wheelchair batteries from 24 v down to ±12 v and 5 v.

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