Mobile Robotic Arm Retrieval Without Wheelchair Repositioning
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Solution Overview
Problem
Existing mobility assistance devices for individuals with limited mobility struggle with retrieving items from the floor, often requiring manual orientation and grip strength, have limited reach, and drain wheelchair batteries, reducing user independence and confidence.
Innovation Solution
A mobile robotic system with a separate chassis-mounted robotic arm, equipped with a camera and end-effector, that can be manually, semi-autonomously, or fully autonomously retrieve items using machine vision and laser depth estimates, and return them to users without precise user commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robotic arm connects to a user's wheelchair to retrieve items, then item retrieval capability is provided, but the robotic arm's limited reach requires the user to move the wheelchair, and the weight of the robotic arm makes it harder for the user to maneuver the wheelchair
Solution Approach 1:
The system separates the robotic arm from the wheelchair, mounting it on a free-moving chassis instead. This segmentation allows the robotic arm to be independently mobile and not add weight to the wheelchair, resolving the contradiction between providing item retrieval capability and maintaining wheelchair maneuverability
Solution Approach 2:
A separate mobile chassis acts as an intermediary platform between the user and the item retrieval function. The chassis carries the robotic arm and can independently navigate to items, eliminating the need for the user to move the wheelchair while maintaining ease of operation
2Device complexity
If a robotic arm with limited reach is used, then the device can be kept compact, but the user must move their wheelchair to bring items within reach
Solution Approach 1:
The robotic arm is mounted on a mobile chassis that can dynamically move around the environment. This transforms the system from a static, reach-limited device to a dynamic mobile robot that actively navigates to items, resolving the contradiction between compact design and operational flexibility
Solution Approach 2:
Instead of extending the robotic arm's reach in one dimension, the system adds mobile navigation capability in multiple dimensions. The free-moving chassis can position the robotic arm anywhere within its operational space, effectively increasing reach without increasing arm complexity
3Device complexity
If the robotic arm shares the wheelchair's power supply, then the system remains simple, but the battery life of the wheelchair is reduced
Solution Approach 1:
The power supply system is segmented into separate units - the wheelchair maintains its own power supply while the mobile robotic arm chassis has its own independent power source. This segmentation prevents the robotic arm from draining the wheelchair battery, resolving the contradiction between system simplicity and battery life preservation
Solution Approach 2:
The mobile chassis acts as an intermediary platform that carries its own power supply, isolating the power consumption of the robotic arm from the wheelchair's battery system while maintaining overall system coordination through wireless communication
4Length of moving object
If a pole with extended grip is used for retrieving items, then reach is extended, but the trigger is difficult to pull for those with low grip strength or arthritis
Solution Approach 1:
The manual mechanical trigger mechanism is replaced with an automated robotic arm system controlled by voice commands, gestures, or smartphone applications. This substitution eliminates the need for users to exert grip force on a trigger, resolving the contradiction between extended reach and ease of operation for users with low grip strength
Solution Approach 2:
The robotic arm performs the retrieval action autonomously based on user commands, eliminating the need for the user to physically manipulate a trigger or grip mechanism. The system serves itself by automatically navigating to and grasping items, resolving the grip strength requirement contradiction
Data Source
AI summary
A robotic system includes a platform, at least two wheels connected to the platform and driven by respective motors, a robotic arm having a base that is connected to the platform, an end-effector connected to the robotic arm at an end opposite the base, and a processor communicatively coupled to the respective motors, the robotic arm, and the end-effector. The processor is configured to receive a command or determine that an item has fallen on a floor, locate the item on the floor, determine a distance and a heading to the item, cause the respective motors to move the platform to the item within range of the robotic arm, cause the robotic arm to grasp the item with the end-effector, and cause the robotic arm to provide the item to a user.