Mobile Robotic Arm on Free-Moving Chassis for Item Retrieval
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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 free-moving chassis and a robotic arm equipped with an end-effector, camera, and sensors, allowing for manual, semi-autonomous, or full-autonomous item retrieval using machine vision and laser depth estimates, and utilizing a smartphone as a beacon for item return.
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 improved, but the robotic arm's limited reach requires the user to move their wheelchair to within reach, reducing mobility efficiency
Solution Approach 1:
The system separates the robotic arm from the wheelchair, mounting it on a free-moving chassis instead. This allows the robotic arm to move independently to retrieve items while the wheelchair remains stationary, eliminating the trade-off between retrieval capability and mobility efficiency.
2Ease of operation
If a robotic arm is mounted on a wheelchair to provide item retrieval, then assistance is improved, but the weight of the robotic arm makes it harder for the user to maneuver the wheelchair
Solution Approach 1:
The robotic arm is separated from the wheelchair and mounted on an independent free-moving chassis. This segmentation eliminates the added weight from the wheelchair, improving maneuverability while maintaining item retrieval assistance through the independently mobile robotic system.
3Device complexity
If a robotic arm shares the wheelchair's power supply, then device complexity is reduced, but battery life is reduced
Solution Approach 1:
The robotic arm operates on its own separate power supply mounted on the free-moving chassis, rather than sharing the wheelchair's battery. This segmentation isolates the power consumption of each system, preventing the robotic arm from reducing wheelchair battery life while maintaining simple device architecture.
4Length of moving object
If a pole with extended grip is used for retrieving items from the floor, then reach distance is improved, but the trigger is difficult to pull for those with low grip strength or arthritis
Solution Approach 1:
The robotic arm automatically performs the retrieval action without requiring the user to manually operate a trigger or grip mechanism. The system uses sensors and automated control to detect, grasp, and retrieve items, eliminating the need for the user to exert grip strength while maintaining extended reach capability.
5Ease of operation
If a robotic arm is used to retrieve items from the floor, then item retrieval capability is improved, but people with mobility challenges still have significant issues retrieving everyday items from the floor
Solution Approach 1:
The free-moving robotic chassis can serve multiple users with different types of mobility challenges, not just wheelchair users. The system's independence from any specific mobility device and its automated operation make it universally applicable to various disabilities, enhancing both retrieval capability and adaptability.
Data Source
AI summary
A mobile robotic arm configured to provide on-demand assistance is disclosed. In an example, 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 cause the robotic arm to grasp an item with the end-effector, receive a command from a user device indicative that the item is to be brought to the user, and cause the respective motors to move the platform so that the end-effector is within proximity of the user device.