Humanoid robot with hands that include interchangeable components for providing remote care and telemedicine

Abstract

The present invention relates to a humanoid robot for providing assisted care in patient monitoring and / or telemedicine. This humanoid robot has a swivel head, a torso, a mobile base and articulated limbs that are arms, each arm having a robotic hand with interchangeable components that fulfil specific functions, such as communicating with people and measuring vital signs, inter alia. The robotic hand or the interchangeable components as such can be detachable. The humanoid robot further comprises cameras, sensors for displaying the environment and interacting with patients, and a navigation system that allows the humanoid robot to move.

Description

[0001] Humanoid robot with hands that include interchangeable components for remote care and telemedicine

[0002] FIELD OF INVENTION

[0003] The present invention is in the technical field of humanoid robots and manipulative humanoid robots for medical services and care, more specifically referring to humanoid robots used in telemedicine.

[0004] STATE OF THE ART

[0005] It is well known that medical diagnosis is used to determine the disease or condition that explains a person's symptoms with information gathered from the person, thanks to their medical history and physical examinations, diagnostic tests, laboratory diagnoses, radiological diagnoses, primary diagnoses, recorded during one or many visits to one or more medical centers or hospitals.

[0006] Today, healthcare centers have the option of deploying robots in any room, whether in operating and surgical areas, waiting rooms, patient rooms, cleaning areas, etc. The use of robotic technology is an important support for healthcare personnel. This is also evident in the use of robots in remote monitoring or telemedicine systems.

[0007] We must emphasize that the pandemic has triggered dramatic changes in healthcare practices. Therefore, robots used for medical purposes have evolved to offer a wide range of monitoring capabilities. Equipped with advanced sensors, robots can measure vital parameters such as blood pressure, heart rate, temperature, and other indicators relevant to a patient's health. This real-time data collection capability allows healthcare professionals to accurately monitor a patient's condition remotely. Furthermore, these robots have been designed with ease of use in mind for both medical staff and patients. Intuitive interfaces, simple remote control, and communication systems have been integrated to provide patient care.And in terms of mobility, some medical robots are capable of autonomous movement within the hospital environment, allowing them to access different areas and rooms to monitor patients in various locations.

[0008] One example is Boston Dynamics' quadruped robot, Spot. Since 2020, this robot has been helping to remotely care for coronavirus patients. The "hospital" version of Spot integrates a tablet on top, like a "digital face," from which doctors interact with patients to provide remote care and follow-up. Robots similar to Spot found in healthcare centers also integrate more solutions, such as monitoring the patient's body temperature, pulse, respiratory rate, and oxygen saturation.

[0009] Additionally, in the state of the art there is patent document CN213339694U, published on June 1, 2021, which refers to an auxiliary diagnostic and treatment robot which includes a head with rotational and shaking movements through a motor, two cameras on the head are used for facial recognition and remote auxiliary diagnosis and treatment, a touch screen, a microphone and a speaker are included on the robot's chest. The waist is provided with a scanning camera, a wireless communication module is arranged on the built-in control card and is used to carry out data communication with a remote cloud server. This robot may include different diagnostic devices, such as a thermometer, an oximeter, a glucose meter or a breathing instrument.It has a face composed of a liquid crystal display that can show the robot's expressions, such as a smile, anger, crying, and the like. The robot's two arms are controlled by motors and can perform movements such as waving its hands according to the program's requirements. It has wheels mounted on the bottom of the robot and controlled by a motor; the robot can move forward, backward, or turn in place as desired. However, the prior CN213339694U fails to integrate a set of features into a single robot for remote care and telemedicine, such as comprising hands with interchangeable components that fit onto the ends of each arm with the capacity to be replaced, where each hand has a specific function or set of specific functions, and where the robot is of the type that has at least one display on the head configured to display facial expressions.

[0010] Based on this need, the present invention has been developed, which proposes and executes a humanoid robot that has the ability to show facial expressions and body movements similar to those of a person and that also has hands with interchangeable components that can be adapted and replaced easily according to the need for monitoring and / or telemedicine.

[0011] BRIEF DESCRIPTION OF THE INVENTION

[0012] The present invention relates to a humanoid-shaped mobile robot for assisted care in monitoring and / or telemedicine. This humanoid robot mainly includes the following components: a head fixed to the upper part of a torso; the torso, which on its exterior has a front screen and a front camera, and on its interior has a processing and control unit with a microprocessor for managing the robot and its wireless connection to external devices; two articulated arms, each with a hand, which are hingedly attached to the torso; and a mobile base that has a movement mechanism and batteries inside, and in its upper part supports the torso; the head and torso are fixed by a horizontal servomotor and a vertical servomotor that form a neck for a flexion and rotation joint;The head has at least one front display, preferably two displays, configured for the projection of facial expressions; wherein each hand has at least one interchangeable component installed, and these form an open hand similar to that of a person, where each hand is removable from its articulated arm or each interchangeable component, as such, is removable from the hand. The humanoid robot of the present invention allows the assistance of the specialist doctor through remote assisted care and reducing the spread of infectious diseases due to proximity;

[0013] Through programming or commands, the humanoid robot can move, detecting and identifying obstacles in its path to the patient who requires care or a telemedicine consultation. Thanks to the head displays, the robot displays a face and facial gestures for interaction with the patient. The torso has a front display, a microphone, a speaker, and a camera that allow video calls with the requested doctor or attending physician, also for providing adequate patient care.

[0014] In addition, the humanoid robot features articulated arms with a hand section that holds an interchangeable component with different applications or specific functions depending on the type of component used. These components are compact and independent, making them easy to change, replace, disassemble, clean, and install. Furthermore, thanks to the humanoid robot's movement and the configuration of its arm joints, the working range of each hand is similar to that of a person.One of the applications of interchangeable components is to facilitate private communication between the patient and the doctor. This is done through an interchangeable component that has a microphone and a speaker, and thanks to the movement of the robot's arm, its hand can be brought closer to the patient's face, thereby achieving discreet voice and audio communication between the patient and the robot or between the patient and the doctor who are in a telemedicine call.

[0015] Another notable application is the monitoring of vital signs, such as patient temperature using a temperature sensor, and the measurement of the patient's oxygen concentration using a pulse oximeter. An additional application is the disinfection of patients' hands with alcohol gel, which is performed by controlling the dosage of alcohol gel using a DC micropump and an ultrasonic sensor to detect the presence of the patient's hands for proper dispensing of the alcohol gel.Therefore, one of the main advantages of the proposed invention is that it integrates a set of technical effects into a single invention, such that the robot has the ability to project facial expressions and gestures onto at least one screen, preferably two screens, on the robot's head, since the head has a neck with two degrees of freedom and the arms have four degrees of freedom, which allow them to generate flexion and rotation movements, these expressions being similar to those of a person. It should be noted that human communication values ​​​​gestures and nonverbal signs. Furthermore, the robotic hand with interchangeable components allows the adaptation of different devices, facilitating their cleaning, maintenance, and replacement. Preferably, the interchangeable devices are used for monitoring vital signs, communication, and disinfection in four or more interchangeable components.This is particularly useful for exchanging the robot's hands or the interchangeable components themselves for patients with highly infectious diseases, in situations where maintenance on such devices is required, or to perform predefined tasks more efficiently. For example, a left hand with an interchangeable component for communication (including a microphone and speaker) and the right hand with an interchangeable component for a thermometer and oxygen level meter. Therefore, the aforementioned components of the humanoid robot not only allow for patient medical care but also a personalized approach by mimicking the robot's human gestures and body movements for improved care.

[0016] BRIEF DESCRIPTION OF THE FIGURES

[0017] Figure 1. Front view of the humanoid robot with hands with interchangeable components for remote care and telemedicine.

[0018] Figure 2. Front view of the humanoid robot showing some positions of the articulated arms.

[0019] Figure 3. Side view of the humanoid robot showing some positions of the articulated arms.

[0020] Figure 4. Isometric view of the humanoid robot showing the elements of the torso, neck joint, and articulated arms. Figure 5. Isometric view of the articulated arm of the humanoid robot showing its elements and articulation characteristics for its movement.

[0021] Figure 6. Isometric view of the head and neck elements of the humanoid robot showing its articulation elements and characteristics.

[0022] Figure 7. Representation of medical care to a patient with the humanoid robot.

[0023] Figure 8. Front view of the humanoid robot with different projections of facial expressions.

[0024] Figure 9. Block diagram of the processing and control unit of the humanoid robot.

[0025] Figure 10. Front and isometric view of the interchangeable interpersonal communication component of the humanoid robot.

[0026] Figure 11. Front and isometric view of the interchangeable temperature measuring component of the humanoid robot.

[0027] Figure 12. Front and isometric view of the interchangeable oxygen measurement component of the humanoid robot.

[0028] Figure 13. Front and isometric view of the interchangeable dispensing component of the humanoid robot and the articulated arm.

[0029] Figure 14. Side view of the interchangeable dispensing component of the humanoid robot and the articulated arm

[0030] Figure 15. Front, side and top symmetric views of the interchangeable dispensing component of the humanoid robot.

[0031] Figure 16. Schematic view of the components and elements of the interchangeable components of the humanoid robot.

[0032] Figure 17. Front and rear view of the detachable hand of the humanoid robot's robotic arm.

[0033] Figure 18. Iometric and front view of the detachable hand of the robotic arm of the humanoid robot.

[0034] Figure 19. Component diagram of the humanoid robot's movement mechanism.

[0035] DETAILED DESCRIPTION OF THE INVENTION

[0036] The invention relates to a humanoid-shaped mobile robot for assisted care in telemedicine, primarily used for communication, vital sign monitoring, interaction, and teleoperated patient care. This humanoid robot has an articulated head, a torso, and limbs that are articulated arms with robotic hands with interchangeable components that perform specific functions, such as communication with people, measurement of vital signs, among others. It also has cameras and sensors for visualizing the environment and interacting with patients, as well as for moving the humanoid robot through the spaces of the care center.

[0037] The humanoid robot has the ability to emulate human-like body expressions and facial gestures, taking into account its simplified anthropomorphic features and forms. This allows for more fluid communication, interaction, and care with patients and enables a physical representation of the attending physicians.

[0038] The humanoid robot with hands including interchangeable components for remote care and telemedicine of the present invention is comprised of:

[0039] A head (1 ) supported by a torso (2) by means of a neck (1 .2). In turn, the torso (2) supports two articulated arms (3) on its sides, each articulated arm (3) has a hand (3.1 ) with a flat palm adapted to hold an interchangeable component (4), which are mainly of four types: interpersonal communication (4A), temperature measurement (4B), oxygen measurement (4C) and dispensing (4D).

[0040] Furthermore, the torso (2) is supported on a mobile base (5), and both have a detection unit (6).

[0041] The head (1 ) has an internal structure that supports an external casing with a shape similar to a human head, it is located in the upper part of the torso (2) and is held by a neck (1 .2), this joins them as shown in figures 1, 2, 3 and 4. The head (1 ) has a speaker, a microphone and at least one screen, preferably two screens (1.1 ) located on the front of the head (1 ), preferably LCD screens of 3.5 inches and 5 inches in size. Due to this configuration of elements, the head allows to present facial gestures similar to those of a person as shown in figure 8, it can also emit sounds such as a recorded voice or the voice of a video call, it also has a microphone to capture the voice of the patient or the sound of the environment.

[0042] The neck (1.2) connects the head (1) with the torso (2) and has two degrees of freedom that allow flexion and rotation movements. To achieve this, it has two kinetic devices, preferably two servomotors, a horizontal servomotor (1.2.1.1) coupled to the torso (2), which allows horizontal movement for rotational flexibility, and a vertical servomotor (1.2.1.2) coupled to the horizontal servomotor.

[0043] (1.2.1.1 ) and attached to the head (1 ) so that it allows flexion and extension movement. These are shown in figures 3, 4 and 6.

[0044] The torso (2) has an internal structure that supports an external casing with a shape similar to a human torso, it is located in the upper part of the mobile base (5) and supports the head (1) by means of the neck (1 .2) in its upper part and the articulated arms (3) on its sides, as shown in figures 1, 2, 3 and 4. The torso (2) has inside a processing and control unit (7) that manages and operates the electronic and electromechanical elements of the humanoid robot and its wireless connection with external devices, and on its outer part it has a front screen

[0045] (2.1 ) that allows viewing information and interacting with the patient, a camera (2.2) that allows capturing the patient during medical care and a microphone to capture the patient's voice or sounds from the environment. Preferably the front screen (2.1 ) is a touch screen, as shown in Figure 7.

[0046] Each articulated arm (3) has an internal structure that supports an external casing with a shape similar to a human arm, preferably for the present invention there are two articulated arms (3) that are attached to the sides of the torso (2), as shown in figures 1, 2, 3, 4 and 8. Each articulated arm (3) has a hand (3.1) at its end. Preferably each articulated arm (3) has 4 degrees of freedom because they have 4 kinetic devices, preferably they are servomotors (3.2.1), they also have support plates (3.2.2) to provide greater stability to each articulated arm (3). Preferably the servomotors

[0047] (3.2.1 ) are of the type: vertical shoulder blade servomotor (3.2.1.1 ), vertical shoulder servomotor (3.2.1.2), horizontal forearm servomotor (3.2.1.3) and vertical elbow servomotor (3.2.1.4), as shown in figures 4 and 5.

[0048] The hand (3.1 ) is located at the end of each articulated arm (3) and is shaped like a flat section (part of a palm and index and thumb fingers) and, together with the interchangeable component (4), forms an open, simplified hand similar to that of a person. Preferably, each hand (3.1 ) is attached to an interchangeable component (4), which can be physically connected to it by means of bolts and / or screws. Likewise, in order to establish the electronic and electrical connection between each interchangeable component (4) and the processing and control unit (7), both the interchangeable component (4) and the base of the robot's hand have magnetic connectors (4.1 ) through which the data and control signals from the sensors and actuators of the interchangeable component (4) are sent and received. Of course, this involves wiring the articulated arms (3) of the humanoid robot from the processing and control unit (7) to each magnetic connector (4.1 ) of each hand (3.1 ).

[0049] Other means of holding the interchangeable component (4) by hand (3.1) are the so-called pressure means, with magnets or with hooks.

[0050] When each interchangeable component (4) is installed, it is complemented by the hand (3.1) forming an open and simplified hand, similar to that of a person. The interchangeable component (4) preferably has a compact shape, which goes from the tip of the 3 fingers of the hand (3.1) (middle finger, ring finger and little finger) to the base of the hand (3.1) where the electromagnetic connector (4.1) is located.

[0051] The interchangeable component (4) has four configurations related to the functionalities that the humanoid robot needs to fulfill: an interchangeable interpersonal communication component (4A) that has a microphone (4A.2) and a speaker (4A.1) for interaction with the patient, as shown in figures 10 and 16; an interchangeable temperature measurement component (4B) that has an infrared sensor (4B.1) for measuring the patient's temperature, as shown in figures 11 and 16; an interchangeable oxygen measurement component (4C) that has a pulse oximeter sensor (4C.1) for measuring the patient's oxygen concentration level, as shown in figures 12 and 16; and an interchangeable dispensing component (4D) that has a nozzle (4D.1) for dispensing alcohol or alcohol gel to the patient and an ultrasonic sensor (4D.2) to detect the proximity of the patient's hand, as shown in Figure 13A, and a tank (4D.3), a micropump (4D.4) and a conduit (4D.5) are located on the articulated arm (3), as shown in Figures 13B and 14, all of these elements allow dispensing alcohol or alcohol gel to the patient to disinfect their hands. It should be noted that an interchangeable component (4) of each type can be installed for both the right and / or left hand (3.1) of the humanoid robot, for which the orientation of each component must be considered prior to its manufacture.

[0052] Preferably for the interchangeable dispensing component (4D) the tank (4D.3) is transparent or translucent and has scales, signs or graphic elements that indicate the level or quantity of content inside and preferably the articulated arm (3) has a transparent or open area for viewing and access to the tank (4D.3). The preferred connection of these elements is that the electromagnetic connector (4.1) is connected to the micropump (4D.4) and to the ultrasonic sensor (4D.2), and when the ultrasonic sensor (4D.2) detects the proximity of the patient's hand, the micropump (4D.4) is activated so that it sucks the contents of the tank (4D.3) and this flows through the conduit (4D.5) to the nozzle (4D.1), as shown in figures 13, 14 and 15.

[0053] The mobile base (5) has an internal structure that supports an external casing in the shape of a cylinder that complements the lower shape of the torso (2). The mobile base (5) has the function of being the base or main support of the humanoid robot, for this reason some batteries (5.2) are located on it, to supply energy to the elements of the humanoid robot, and the displacement mechanism (5.1) for the translation movement of this.

[0054] The movement mechanism (5.1 ) is comprised of a drive component (5.1.1 ) with differential distribution. This allows two types of movements, linear movement forward or backward and rotational movement on its own axis clockwise or counterclockwise. The drive component (5.1.1 ) is preferably comprised of four components: support pulleys (5.1.1.1 ), drive wheels (5.1.1.2), drive motors (5.1.1.3) and gear system (5.1.1.4), as shown in figure 19. Preferably the support pulleys (5.1.1.1 ) are four and are responsible for supporting the weight of the robot and at the same time allowing movement in 360° sexagesimal degrees. On the other hand, the two drive wheels (5.1.1.2) are responsible for transmitting the movement torque generated by the two drive motors (5.1.1.3). In addition, there are two gear systems (5.1 .1 .4) located between the traction motor (5.1 .1 .3) and the drive wheel (5.1.1 .2), which perform the function of a reduction gearbox, that is, they reduce the rotation speed of the traction motors (5.1.1.3) to increase the torque generated and be able to move the humanoid robot.

[0055] The detection unit (6) is a set of sensors, cameras and detection elements that allow the humanoid robot to recognize and inspect the environment for movement and avoid obstacles. This subsystem also has elements that are distributed in the mobile base (5) and the torso (2) of the humanoid robot.

[0056] The detection unit (6) is comprised of a depth camera (6.1 ), a LIDAR sensor (6.2), an array of ultrasonic sensors (6.3) and an array of infrared sensors (6.4) interconnected with each other and with the processing and control unit. In this sense, the depth camera (6.1 ) is located in the front part of the torso (2) of the humanoid robot to detect and visually identify obstacles that are ahead and the areas through which it can move with a range of up to 3 meters. On the other hand, the LIDAR sensor (6.2) is located on the mobile base (5) and on the central axis of the humanoid robot and at a height of 40 cm above ground level, as shown in figures 1 and 19, this is used to identify static and dynamic obstacles that are in the path of travel and on the sides of the humanoid robot with a measurement range of up to 10 meters away and with a vision range of 4.14 TT (237°).With respect to the ultrasonic sensor array (6.3), these are comprised of 8 ultrasonic sensors located on the perimeter of the mobile base (5) of the humanoid robot as shown in figures 1 and 19, these sensors are used to detect obstacles in their environment, both in front, sides and rear area with a measuring range of up to 10 meters. Finally, the infrared sensor array (6.4) is a set of infrared sensors located on the perimeter of the mobile base (5) of the humanoid robot, as shown in figures 1 and 19, these are used to detect nearby obstacles from 4 centimeters to 30 centimeters. This configuration of elements of the detection unit (6) allows detection in 360° sexagesimal degrees around the humanoid robot.In effect, the sensors and cameras of the detection unit (6) allow viewing the environment and / or the patient, for the transfer and mobilization of the humanoid robot within the intra-hospital space or medical center.

[0057] The processing and control unit (7) that includes a microprocessor that manages, controls, commands and / or operates the electronic and electromechanical elements of the humanoid robot and also allows its wireless connection with external devices. According to the graphic description of figure 9, the processing and control unit (7) also has a wireless connection unit that allows its connection to the Internet and / or a modem to achieve a connection with external devices for telemedicine or remote care, also for this, the processing and control unit (7) has a doctor interface that allows the wireless connection to connect to an external device, such as a computer, laptop, Tablet or mobile device (cell phone), and a user interface that connects with at least one microphone of the head (1) or the torso (2) and with the front screen (2.1) in order to have communication and interaction with the patient in situ.

[0058] Example of realization

[0059] A preferred embodiment of the humanoid robot is that it is adapted to various physical conditions of the patients and the environment, whether the patients are standing, sitting, lying down, or have mobility limitations. Therefore, the humanoid robot preferably has a height between 1.50 meters and 1.70 meters.

[0060] In another preferred embodiment, the interchangeable dispensing component (4D) has the nozzle (4D.1), the ultrasonic sensor (4D.2) and the micropump (4D.4) configured in a compact manner inside the interchangeable dispensing component (4D), as shown in Figure 16. Preferably for this embodiment, a small tank of alcohol or alcohol gel can be conditioned inside the micropump (4D.4), allowing its dispensing for cleaning the patient's hands.

[0061] In another preferred embodiment, in the rear part of the torso (2) there is a cabinet with a lid that allows at least four interchangeable components (4) to be stored inside.

[0062] In a particular embodiment, each hand (3.1) is removable from its articulated arm (3), since it has a hand support (3.1.1) that can be introduced inside the end of the articulated arm (3) and can be attached to it by means of bolts, screws, electromagnetic connectors and / or similar assemblies, as shown in figures 17 and 18.

[0063] In another particular embodiment, each interchangeable component (4), as such, can be disassembled directly from the hand (3.1) through bolts, screws, electromagnetic connectors, among other similar assemblies.

Claims

CLAIMS 1. A humanoid robot with hands that include interchangeable components for remote care and telemedicine, of the type comprising: a head (1 ) that is fixed to an upper part of a torso (2); the torso (2) that on its exterior has a front screen (2.1 ) and a front camera (2.2), and inside it has a processing and control unit (7) with a microprocessor for managing the robot and its wireless connection with external devices; two articulated arms (3), each with a hand (3.1 ), which are articulately attached to the torso (2); and a mobile base (5) that has a movement mechanism (5.1 ) and batteries (5.2) inside, and in its upper part supports the torso (2); the head (1 ) and the torso (2) are fixed by a horizontal servomotor (1.2.1.1 ) and vertical servomotor (1.2.1.2) that form a neck (1.2) for a flexion and rotation joint; The head (1) has at least one screen (1.1) front configured for the projection of facial expressions; characterized in that: each hand (3.1) has at least one interchangeable component (4) installed, and these form an open hand similar to that of a person, where each hand (3.1) is removable from its articulated arm (3) or each interchangeable component (4) is removable, as such, from the hand (3.1).

2. The humanoid robot with hands that include interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the processing and control unit (7) is connected to the interchangeable components (4) by means of cables and an electromagnetic connector (4.1).

3. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the interchangeable components (4) have hooks, Handles or holes for bolts and / or screws or a combination of these that allow holding the hand (3.1).

4. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the interchangeable components (4) are of four types: interpersonal communication (4A), comprised of a microphone (4A.2) and a speaker (4A.1) for interaction and communication with the patient, temperature measurement (4B), comprised of an infrared sensor (4B.1) for measuring the patient's temperature, oxygen measurement (4C), comprised of a pulse oximeter sensor (4C.1) for measuring the patient's oxygen concentration level, and dispensing (4D), comprised of a nozzle (4D.1) and an ultrasonic sensor (4D.2) for detecting the proximity of the patient's hand, and in the articulated arm (3) it has a tank (4D.3) and a micropump (4D.4), for dispensing alcohol or alcohol gel.

5. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT each articulated arm (3) has 4 degrees of freedom because it has 4 kinetic devices that are servomotors (3.2.1), it also has support plates (3.2.2) to provide greater stability.

6. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 5, CHARACTERIZED IN THAT the servomotors (3.2.1) are of the type: vertical shoulder blade servomotor (3.2.1.1), vertical shoulder servomotor (3.2.1.2), horizontal forearm servomotor (3.2.1.3) and vertical elbow servomotor (3.2.1.4).

7. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the detection unit (6) comprises a camera depth (6.1), a LIDAR sensor (6.2), an array of ultrasonic sensors (6.3) and an array of infrared sensors in (6.4) interconnected.

8. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the movement mechanism (5.1) is comprised of a traction component (5.1.1) that has support pulleys (5.1.1.1), traction wheels (5.1.1.2), traction motors (5.1.1.3) and a gear system (5.1.1.4).

9. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the processing and control unit (7) has a wireless connection unit that allows its connection to the Internet and / or a modem to achieve a connection with external devices for telemedicine or remote care.

10. The humanoid robot with hands with interchangeable components for remote care and telemedicine, according to claim 1, CHARACTERIZED IN THAT the hand is removable through a hand support (3.1.1) that can be introduced inside the end of the articulated arm (3) and can be fastened to it by means of bolts, screws, electromagnetic connectors and / or assemblies.

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