Start Date
8-5-2024 9:40 AM
End Date
8-5-2024 9:55 AM
Document Type
Full Paper
Keywords
ADL tasks, Robotic Arm, Power Wheelchair, Elevator Accessibility, Raspberry Pi, Arduino, Upper-Limb Disability, Assistive Technology
Description
Individuals with muscular dystrophy and spinal cord injuries often experience upper-limb disabilities and rely on Power wheelchairs for their mobility. While these wheelchairs enhance their quality of life, they do not fully address challenges in activities of daily living (ADL). Specifically, the stiffening of tendons and ligaments in hand joints makes it difficult for individuals to perform accessibility tasks such as pressing elevator buttons and scanning access cards. This paper presents an affordable, simple, and convenient solution to these challenges.
The proposed robotic arm offers several unique features. Equipped with a 4-DOF system (3 revolute joints and 1 prismatic joint), it enables easy 3D navigation, controlled via an assistive joystick. Its electrical system uses a Raspberry Pi as the primary microcontroller and an Arduino for joystick input. The four interchangeable end-effectors include a card holder, a ballpoint for pushing buttons, a hook, and a 1 DOF gripper. Other features include 3D printed covers, easy assembly, and quick attachment/detachment. Additionally, this accessory meets National ADA Standards for accessible design, ensuring the wheelchair adheres to a width clearance of 32 inches.
DOI
https://doi.org/10.5038/MHDN4832
Robotic Accessibility Assistant (RAA)
Individuals with muscular dystrophy and spinal cord injuries often experience upper-limb disabilities and rely on Power wheelchairs for their mobility. While these wheelchairs enhance their quality of life, they do not fully address challenges in activities of daily living (ADL). Specifically, the stiffening of tendons and ligaments in hand joints makes it difficult for individuals to perform accessibility tasks such as pressing elevator buttons and scanning access cards. This paper presents an affordable, simple, and convenient solution to these challenges.
The proposed robotic arm offers several unique features. Equipped with a 4-DOF system (3 revolute joints and 1 prismatic joint), it enables easy 3D navigation, controlled via an assistive joystick. Its electrical system uses a Raspberry Pi as the primary microcontroller and an Arduino for joystick input. The four interchangeable end-effectors include a card holder, a ballpoint for pushing buttons, a hook, and a 1 DOF gripper. Other features include 3D printed covers, easy assembly, and quick attachment/detachment. Additionally, this accessory meets National ADA Standards for accessible design, ensuring the wheelchair adheres to a width clearance of 32 inches.