Design considerations of ASBGo++ (Plus Plus) Smart Walker

The development of a gait disorder leads to the loss of the ability to walk and may cause dependence of others in daily life, which is a major determinant in life quality. Thus, devices that provide mobility assistance and ambulatory daily exercises are essential for the health and life quality of such individuals. The ASBGo Smart Walker is an academic project aimed to create a medical solution for rehabilitation of patients with gait disorders. Based on the acquired know-how, the physicians, physiotherapist and patients’ feedback, a new prototype, named ASBGo++ (Plus Plus) was developed, mechanically and electronically improved. This paper will focus on the proposed mechanical, design and ergonomic considerations, enhancing the positive aspects of this smart walker and emphasizing the features that are most highlighted in its design, structure, and functionality.This work is supported by the FCT – Fundação para a Ciência e Tecnologia – with the reference project UID/ EEA/04436/2013, by FEDER funds through the COMPETE 2020 – Programa Operacional Competitividade e Internacionalização (POCI) – with the reference project POCI-01-0145-FEDER-006941. In addition, acknowledgement of the paper prior publication at the ICARSC 2016 conference proceedings.info:eu-repo/semantics/publishedVersio

System architecture for the ASBGo* Smart Walker

Dissertação de mestrado em Engenharia Eletrónica Industrial e ComputadoresWeakness, mobility and balance problems are some of the obstacles that most certainly will go along with the last period of life, the old age. Also, those difficulties can strike young lives due to gait abnormalities resulted from degenerative diseases or even accidents. To patients with high motor deficit, traditional methods, such as wheelchairs, are usually prescribed, but the use of an assistive device that do not promotes the patient’s recovery will eventually lead him to a restrict daily life as well as a notable loss of motor skills. With previous questions in mind, the Adaptive System Behavior Group (ASBG) decided to develop a motorized smart walker capable of adapting to the needs of its users. The Adaptive System Behavior Group Project (ASBGo) counts already with four versions that have proved its worth in clinical environment and was renowned, for two consecutive times, as one of the best technological and innovating Portuguese research projects in the rehabilitation field. However, the electromechanical and software solutions of each prototype commonly impair the global development of the project, making each version obsolete, outdated or unusable. Now, it is time to go further and render these proof-of-concept devices in a mature version, excluding previous academic solutions and engineering a robust and trustworthy device that will establish this new rehabilitation concept. This master thesis, addressed to rehabilitation robotics, describes the design and implementation of a system architecture for the Adaptive System Behavior Group Project Star (ASBGo*) . The implementation of a unified modular system architecture embraces the development of software components, electronic hardware and electromechanical modifications required to its implementation. This new prototype is an upgrade of the all ASBGo previous versions, in which the sturdy and user-friendly solutions implemented provide robust tools for future development and usability. Firstly, the contextualization in the project was performed, including a brief study of robotic software platforms, the familiarity with the several ASBGo prototypes and the research of the best solutions to design a system architecture. Secondly, following a Top-Down strategy, the work plan was established bearing in mind the considerations to design and implement a global system architecture: definition of the main functionalities and behaviours of the prototype and, simultaneously, the strategies to be followed in the hardware, electromechanical and software development. Hereinafter, the development stage was conducted following an Hardware-Software co-design methodology. That strategy ensured that the design and implementation of electronic and electric circuits were in agreement with all system requirements guaranteeing trade-offs, robustness and safety. During all the development process, validations of the system were constantly performed and, in the end, intensive experimentations of the final device were executed in the laboratory with the intervention of colleagues of the ASBG group.Debilidade e dificuldades de mobilidade e equilíbrio são alguns dos problemas que muito certamente irão acompanhar o período final da vida, a velhice. Para além disso, esses problemas podem atingir jovens vidas devido a anomalias na marcha resultantes de doenças degenerativas ou até mesmo acidentes. Aos pacientes que apresentam um alto défice motor, métodos tradicionais, como cadeiras de rodas, são normalmente receitados. No entanto, o uso de dispositivos de assistência que não promovem a recuperação do paciente irão eventualmente levá-lo a uma vida restrita assim como a uma notável perda de capacidades motoras. Com tal ideias em mente, o Adaptive System Behavior Group (ASBG) decidiu desenvolver um andarilho inteligente motorizado capaz de se adaptar as necessidades dos seus utilizadores. O Adaptive System Behavior Group Project (ASBGo) já conta com quatro versões que provaram o seu valor em ambiente clínico e já foi reconhecido, por duas vezes consecutivas, como um dos projetos de investigação mais tecnológico e inovador na área de reabilitação. Contudo, as soluções eletromecânicas e de software de cada protótipo comprometem o desenvolvimento contínuo do projeto, tornando cada versão obsoleta, desatualizada e inutilizável. Agora, está na hora de ir mais longe e tornar estes dispositivos de prova de conceito numa versão mais madura, excluindo as soluções académicas anteriormente implementadas e concebendo um dispositivo robusto e fiável que irá afirmar este novo conceito de reabilitação. A presente dissertação de mestrado, no âmbito da robótica de reabilitação, descreve o design e implementação de uma arquitetura de sistema para o Adaptive System Behavior Group Project Star (ASBGo*). A implementação de uma arquitetura de sistema unificada e modular envolve o desenvolvimento de componentes de software, hardware eletrónico e modificações eletromecânicas necessárias à sua implementação. Este novo protótipo consiste numa melhoria avançada de todas as versões anteriores do ASBGo no qual as soluções vigorosas e acessíveis implementadas providenciam meios para desenvolvimento futuro e usabilidade. Inicialmente, foi realizada a contextualização no projeto que incluiu uma breve pesquisa de plataformas de software robótico, a familiarização com os diferentes protótipos ASBGo e o estudo das melhores soluções para a conceção da arquitetura do sistema. Seguindo uma estratégia Top-Down, o plano de trabalhos foi estabelecido tendo em conta considerações para o design e implementação de uma arquitetura de sistema unificada: definição das principais funcionalidades e comportamentos do protótipo e, concomitantemente, as estratégias a ser seguidas no desenvolvimento eletromecânico, de hardware e de software. Doravante, a fase de desenvolvimento foi acompanhada por uma metodologia de Hardware-Software co-design. Esta estratégia assegurou a concordância entre o design e a implementação de circuitos eletrónicos e elétricos e todos os requisitos do sistema garantindo desta forma, trade-offs, robustez e segurança. Durante todo o processo de desenvolvimento, validações do sistema foram constantemente realizadas, sendo que no final testes intensivos ao produto final foram executados em laboratório com a intervenção dos colegas do grupo ASBG

ASBGO*: a mechatronic improved smart walker

The ASBGo* Smart Walker (SW) is a research project from the Adapative System Behaviour Group. This device is used as a medical solution for rehabilitation of patients with gait disorders. To meet the user’s needs this device was designed and developed into an improved and reliable system from both mechanic and electronic point of view. Thereby, in this paper a brief outline of the smart walker’s system and design architecture will be presented

Development of a carbon fibre composite active mirror: Design and testing

Carbon fibre composite technology for lightweight mirrors is gaining increasing interest in the space- and ground-based astronomical communities for its low weight, ease of manufacturing, excellent thermal qualities and robustness. We present here first results of a project to design and produce a 27 cm diameter deformable carbon fibre composite mirror. The aim was to produce a high surface form accuracy as well as low surface roughness. As part of this programme, a passive mirror was developed to investigate stability and coating issues. Results from the manufacturing and polishing process are reported here. We also present results of a mechanical and thermal finite element analysis, as well as early experimental findings of the deformable mirror. Possible applications and future work are discussed.Comment: Accepted by Optical Engineering. Figures 1-7 on http://www.star.ucl.ac.uk/~sk/OEpaper_files

The concept of segmented wind turbine blades : a review

There is a trend to increase the length of wind turbine blades in an effort to reduce the cost of energy (COE). This causes manufacturing and transportation issues, which have given rise to the concept of segmented wind turbine blades. In this concept, multiple segments can be transported separately. While this idea is not new, it has recently gained renewed interest. In this review paper, the concept of wind turbine blade segmentation and related literature is discussed. The motivation for dividing blades into segments is explained, and the cost of energy is considered to obtain requirements for such blades. An overview of possible implementations is provided, considering the split location and orientation, as well as the type of joint to be used. Many implementations draw from experience with similar joints such as the joint at the blade root, hub and root extenders and joints used in rotor tips and glider wings. Adhesive bonds are expected to provide structural and economic efficiency, but in-field assembly poses a big issue. Prototype segmented blades using T-bolt joints, studs and spar bridge concepts have proven successful, as well as aerodynamically-shaped root and hub extenders

The Development of a Hybrid Ergonomic Walker for a Patient Suffering from Multiple System Atrophy Cerebellar Type I

Currently, when an individual needs a mobility device, they must settle for walkers and rollators which cater to some of their needs. For some, this is acceptable, but for others these ill-fitted devices pose a threat to their safety as they increase the frequency of falling while walking. For individuals with ataxia, this problem is further exacerbated as they do not possess the needed motor functions to coordinate their movement and appropriately control the device. This brings relevancy to the topic of customizing walkers for certain individuals to ensure their safety. The patient in this project suffers from multiple system atrophy cerebellar type (MSA-C), a rare progressive neurodegenerative disease which results in the shrinking of the portion of the brain directly above the spinal cord. The disease is typically characterized by a lack of coordinated muscle control which affects the individual’s speech, eye movement, gait, and limb co-ordination. As with other forms of ataxia, there is little to no research on devices designed to support individuals with such a disease. The goal of this project is to design a walker suitable for the patient as it has been found that his unique condition cannot be adequately supported by commercially available walkers. The ergonomic walker created is a modification of the U-step walker designed and manufactured by In-Step Mobility Products Corporation. This walker was chosen based on its stable base technology and braking system designed for individuals with limited motor functions. The device was further modified to include an emergency brake system, a sensitive control panel, and a seat tailored to the anthropometric data of the patient. The result was an ergonomic walker designed to ensure the safety of the patient while giving him the confidence to walk independently

Advances in oral transmucosal drug delivery

Original article can be found at : http://sciencedirect.com/ Copyright ElsevierThe successful delivery of drugs across the oral mucosa represents a continuing challenge, as well as a great opportunity. Oral transmucosal delivery, especially buccal and sublingual delivery, has progressed far beyond the use of traditional dosage forms with novel approaches emerging continuously. This review highlights the physiological challenges as well as the advances and opportunities for buccal/sublingual drug delivery. Particular attention is given to new approaches which can extend dosage form retention time or can be engineered to deliver complex molecules such as proteins and peptides. The review will also discuss the physiology and local environment of the oral cavity in vivo and how this relates to the performance of transmucosal delivery systems.Peer reviewe

Reimagining Robotic Walkers For Real-World Outdoor Play Environments With Insights From Legged Robots: A Scoping Review

PURPOSE For children with mobility impairments, without cognitive delays, who want to participate in outdoor activities, existing assistive technology (AT) to support their needs is limited. In this review, we investigate the control and design of a selection of robotic walkers while exploring a selection of legged robots to develop solutions that address this gap in robotic AT. METHOD We performed a comprehensive literature search from four main databases: PubMed, Google Scholar, Scopus, and IEEE Xplore. The keywords used in the search were the following: “walker”, “rollator”, “smart walker”, “robotic walker”, “robotic rollator”. Studies were required to discuss the control or design of robotic walkers to be considered. A total of 159 papers were analyzed. RESULTS From the 159 papers, 127 were excluded since they failed to meet our inclusion criteria. The total number of papers analyzed included publications that utilized the same device, therefore we classified the remaining 32 studies into groups based on the type of robotic walker used. This paper reviewed 15 different types of robotic walkers. CONCLUSIONS The ability of many-legged robots to negotiate and transition between a range of unstructured substrates suggests several avenues of future consideration whose pursuit could benefit robotic AT, particularly regarding the present limitations of wheeled paediatric robotic walkers for children’s daily outside use. For more information: Kod*lab (link to kodlab.seas.upenn.edu

Redesigning the Walker: A More Durable & Dignified Device

Aging and Rehabilitation Engineering is a prominent field with ample room for development of and improvement upon existing options. Surveying city sidewalks, family gatherings, hospital waiting rooms it becomes apparent that the need for mobility aids is abundant. My proposal for Capstone is to redesign the walker from both my mechanical engineering and sculptural perspectives. A walker is meant to improve the quality of life for those who are unable to walk unassisted, but should not come at the cost of the user’s dignity. The way we carry ourselves says a lot about us (i.e. character, will, and level of care for our bodies). I want to further improve quality of life by elevating the walker to a dignified piece of equipment. I propose to focus on ease of use, opportunity for customization (for those individuals with specific needs in addition to stability while walking), and improving the aesthetics of this important device that serves as a daily presence in many people’s lives