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

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 technologi...

Πλήρης περιγραφή

Λεπτομέρειες βιβλιογραφικής εγγραφής
Κύριος συγγραφέας: Παπαρίζος, Χρήστος
Άλλοι συγγραφείς: Paparizos, Christos
Γλώσσα:English
Έκδοση: 2020
Θέματα:
Διαθέσιμο Online:http://hdl.handle.net/10889/14279
id nemertes-10889-14279
record_format dspace
spelling nemertes-10889-142792022-09-05T13:57:15Z 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 - Παπαρίζος, Χρήστος Paparizos, Christos 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. 2020-12-07T15:08:03Z 2020-12-07T15:08:03Z 2020-11 http://hdl.handle.net/10889/14279 en application/pdf
institution UPatras
collection Nemertes
language English
topic Mechatronics
System on a chip (SoC)
Robotics
Embedded systems
Μηχατρονική
Ρομποτική
Ενσωματωμένα συστήματα
spellingShingle Mechatronics
System on a chip (SoC)
Robotics
Embedded systems
Μηχατρονική
Ρομποτική
Ενσωματωμένα συστήματα
Παπαρίζος, Χρήστος
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
description 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.
author2 Paparizos, Christos
author_facet Paparizos, Christos
Παπαρίζος, Χρήστος
author Παπαρίζος, Χρήστος
author_sort Παπαρίζος, Χρήστος
title 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
title_short 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
title_full 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
title_fullStr 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
title_full_unstemmed 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
title_sort 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
publishDate 2020
url http://hdl.handle.net/10889/14279
work_keys_str_mv AT paparizoschrēstos designandimplementationofaroboticchassisbearingarmmanipulatortoassistpatientsinquarantineroomsbyusingaleapmotionsensorandanarma9processoronsoc
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