Project Information

Modular assisting robot for people with cerebral palsy V1

Synopsis
Modular system for assisting people with cerebral palsy. It has many different input devices: buttons, PS3 gamepad, facial and gaze tracking, computer GUI. It has 4 modules: movement using a powered wheelchair, feeding using a robotic arm, communication using a laptop and control using Arduino.
Resources
Created by dburongarcia | Forum Thread Link
10 months
50+ pounds
128 x 58 x 120 cm
5-10 hours
Python,C++,Processing
Directly by user and RC by assistant. Programmed movements
Powersource: Lead Acid

2 x 12V Lead acid batteries from a powered wheelchair are the main source. Each module has it's own battery and the main source powers and recharges everything using one of these 2 ways (user can choose whatever is easier to assembly):
-One 24V to 220V inverter connected to a multiplug for regular power adapters.
-Multiple stepdown variable regulators for 24V to each voltage used by each module.

Locomotion: Wheel Driven

It uses the locomotion of the powered wheelchair. In order to avoid warranty void of the wheelchair manufacturer, we used an external electromechanical device with 3 servos (2 x joystick, 1 x speed dial) and a sollenoid for on/off buton, controlled by an Arduino Leonardo with a USB host shield.

Controller/CPU: Arduino and ArbotiX

*Currently changing it*
It uses an Arduino Leonardo to receive all the inputs. It sends data directly from analog outputs to the servos, USB data to the PC to receive serial data from apps and send data to move the screen pointer, and send data to control the robotic arm.

Actuators

Movement: Electromechanical device with 3 servos (2 x joystick, 1 x speed dial) and a sollenoid for on/off buton, controlled by an Arduino with a USB host shield.
Feeding: PhantomX Reactor

Description





Modular and low cost system for assisting people with cerebral palsy. It's thought to be as easy, cheap and modular as possible, so anyone can create its own to help people with dissabilities around them, even if they don't have tech knowledge. It has a CC-BY-NC-SA license. It has these components:

4 modules:
-Movement: powered wheelchait with an electromechanical device printed in 3D and using 3 servos (2 x joystick, 1 x speed dial) and a sollenoid for on/off buton.
-Feeding: using a PhantomX Reactor, 3 bowls, 1 bit valve and an special table that can be fixed on a wheelchair or table.
-Communication: using a laptop, that process the advanced inputs (facial and gaze tracking) or a tablet or a DIY ultralight Linux with a miniPC dongle and a laptop screen with a LVDS controller.
-Control: an Arduino Leonardo with a USB host shield. I connect to it all the inputs. Buttons using digital inputs, PS3 gamepad using USB host and advanced inputs (facial and gaze tracking) using the PC through microUSB. You choose what do you wan to use. The control module also allows to move the communication module cursos.

3 submodules:
-Structure: using a low cost deformable tube system combined with bike mounts to adapt it to any user.
-Emergency: using a push button connected to a sollenoid to turn off the wheelchair and shut the power of the energy submodule off.
-Energy: 2 x 12V Lead acid batteries from a powered wheelchair are the main source. Each module has it's own battery and the main source powers and recharges everything using one of these 2 ways (user can choose whatever is easier to assembly):
·One 24V to 220V inverter connected to a multiplug for regular power adapters.
·Multiple stepdown variable regulators for 24V to each voltage used by each module.

It has different interchangeable ways of controlling everything. Direct input devices:
-4 x arcade buttons.
-1 x Buzz! controller.
-1 x PS3 gamepad (wired or wireless for RC by assistant)
-*Sip n' puff.
Indirect input devices:
-Facial tracking.
-Gaze tracking.
-Computer GUI.
-*EEG and EMG.

Main apps:
-Powered wheelchair Processing app: it uses a web cam to show what's behind the screen and allow controlling the wheelchair placing the cursor on different parts of the image with a proportional control.
-Feeding arm: it has a simple GUI with 2 or 4 buttons to allow the robot arm feed automatically the user with as many clicks as possible. It can also fully control the arm movement.

*In development

UPDATES: new V2 structure, energy submodule and weatherproof box.