Design and implementation of a robotic chassis bearing arm manipulator to assist patients in quarantine rooms by using a leap motion sensor and an ARM A9 processor on SoC

• Κύριος συγγραφέας: Παπαρίζος, Χρήστος
• Άλλοι συγγραφείς: Paparizos, Christos
• Γλώσσα: English
• Έκδοση: 2020
• Θέματα: Mechatronics; System on a chip (SoC); Robotics; Embedded systems; Μηχατρονική; Ρομποτική; Ενσωματωμένα συστήματα

In this Thesis, the design and implementation of a mobile robotic assistant for hospital use is presented which is especially useful in cases of treatment of infectious diseases inside isolated rooms. Providing a solution to such a need requires the integration of different and innovative technologies. Comparing our approach to similar ones, the main differences lie in the use of custom parts and controller for the robot manipulation as well as a novel operation scheme. No other approach has such a way of handling nor does it come up with a manipulator other than the industrial ones like KUKA and Universal Robots. For this reason, the advantages of the system presented here, are the low cost and ease of reproduction by anyone having a 3D printer and knowledge of embedded systems. On the other hand, comparing to other related implementations, we have limited accuracy, operating time, and range, since our approach is a proof of concept, show casing the low cost teleoperated hospital robotic assistant. In this work, the implementation of the system has been thoroughly discussed from an embedded system perspective integrating software and hardware techniques. As for its functionality this robotic system’s main task is to mimic human movements, i.e., the real time transfer of the sensory input to the robotic arm in the form of users movements. As a proof of concept of our idea, the jobs performed are mainly dictated by the user and his hand moves. This constitutes a feedforward system as it does not yet implement autonomous functions by backward propagation of the sensor input to the controller logic. This is of course the next step of our research after the system has taken a solid form. Some examples are medication transfer to and from hospital rooms as well as area surveillance with direct video feedback and immediate intervention in simple pick and place tasks near the patient.