INTELLIGENT ROBOT WALKER

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INTELLIGENT ROBOT WALKER
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AVAILABLE DEVICES

• The PAM-AID
• Reactive device
• Basic obstacle avoidance
• Not supportive more an aid for the blind
• The SMARTCANE
• Environment embedded sensors
• Limited usability
• Just a cane

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What Were Up Against
Show Clip
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Project Objective

• Locate a user and configure itself to assist in
  the standing/sitting process
• Move in the appropriate direction and speed as
  directed by the user
• Correct the users course such as to avoid
  obstacles or locate a desired position in the
  users environment
• Monitor the activity patterns of the user to
  detect improvement/deterioration in users
  physical mobility

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The Design

• Haptic Device
• Support Bars
• Shared Control
• Navigation
• User Feedback

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Haptic Device and Support Bars

• Control using joystick(s). With this method, one
  or two joysticks will be strategically placed
  within or upon the walker's supporting bars.
• Control using force-sensing resistors (FSR). With
  this method, strategic placement of multiple FSRs
  will be used to determine the user's motion.
• Existing Support Bar Design

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Shared Control
Whos really in charge?
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INTELLIGENT NAVIGATION

• Goal based navigation
• Assistance in standing up
• Leading from one place to another
• Risk Assessment and Shared Control
• Obstacle avoidance
• Fall detection

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Hardware Components

• Robotic Components XR4000
• Haptic Components FSR Joysticks
• Supportive Components Materials and Fabrication

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Projected Costs

• XR4000 Already acquired.
•  FSR Joysticks Interlink - 79.95 for 16 FSR
  variations (4 sets of 4)Flexiforce - 4-pack of
  sensors for 55 or 8-pack for 99 Joysticks
  range from 10 to 50
• A basic walker (100)
• Total 250

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PROJECT OUTLINE
Phase 1 Preliminary hardware design,
familiarizing and conducting basic tasks
with the XR4000. Phase 2 Acquisition of various
parts and fabrication of the hardware,
preliminary software design Phase 3
Interfacing of sensors, basic software
implementation and data acquisition. Phase 4
Software integration and preliminary
testing. Phase 5 Evaluation, further testing
and modification.