Assistive mobility devices focusing on smart walkers : classification and review

In an aging society it is extremely important to develop devices, which can support and aid the elderly in their daily life. This demands means and tools that extend independent living and promote improved health. Thus, the goal of this article is to review the state of the art in the robotic technology for mobility assistive devices for people with mobility disabilities. The important role that robotics can play in mobility assistive devices is presented, as well as the identification and survey of mobility assistive devices subsystems with a particular focus on the walkers technology. The advances in the walkers’ field have been enormous and have shown a great potential on helping people with mobility disabilities. Thus it is presented a review of the available literature of walkers and are discussed major advances that have been made and limitations to be overcome

An empirical study on assistive technology supported travel and tourism for the people with dementia

Purpose: Research shows that people with disabilities have same desire for travel and tourism as others, but many constraints prevent them from independent travelling. Although the disabled tourism market is expanding, still there is lack of empirical research on impact analysis of assistive technology (AT) assisted travel and tourism with focus on the people with dementia (PWD). This study investigates the impacts of AT assisted travel and tourism for the PWD.Methods: The questionnaire-based survey gathered data from 327 PWD. SPSS is used to perform exploratory factor analysis and canonical coefficient analysis for investigating the usability of AT assistance in travel and tourism.Results: Results reveal four motivational (facilitated travel and tourism, cost effectiveness, easier communication and needs compatibility) and three achievements dimensions (improved achievements, improved independence and improved safety). Independent travel is desired by the PWD without any external help and ATs can help them in doing so. The use of AT can further accommodate in choosing the tourism activities, attractions and leisure management. The PWD feel improvements in their achievements through the use of ATs in travel and tourism.Conclusions: AT support, resultantly improves the confidence and self-esteem of the PWD and motivate them towards rehabilitation and independent living

Navigation system using passive collaborative control adapted to user profile for a rollator device

In order to achieve this goal, research in different areas has been necessary. First, a methodology to provide human-like platform motion in reactive navigation algorithms has been proposed to improve user acceptance of help. Then, work has focused on gait analysis and user's condition estimation using only onboard sensors. In addition, a new methodology to evaluate fall risk using only onboard sensors while users walk has been proposed to balance the contribution of user and robot to control. All proposed subsystems have been validated with a set of volunteers at two rehabilitation hospitals: Fondazione Santa Lucia (Rome) and Hospital Regional Universitario (Malaga). Volunteers presented a wide variety of physical and cognitive disabilities. Tests with healthy volunteers have been discarded from the beginning to avoid a sampling bias error. Obtained results have shown that the proposed system can be used for: i) reactively generating human-like trajectories that outperforms all other tested algorithms in terms of likeness to human paths and success rate; ii) monitoring gait and user's condition while users walk using only on-board sensors; and iii) evaluating fall risk without wearable sensors nor ambient sensors. This thesis open a number of open research lines: i) user condition estimation can be extended to another medical scales; ii) the method to reactively generate human-like-trajectories can be extended to add deliberative human-adapted-path-planning; and iii) the fall risk estimator can be extended to a fall risk predictor.Rollators provide autonomy to persons with mobility impairments. These platforms can be used while people perform their Activities of Daily Living in order to provide support and/or balance. Also, they can be used during the rehabilitation process to strengthen the lower limbs or to provide balance before users can progress to canes or crutches. Rollators have a limited set of personalization options, but they are usually related to the users' body size. Hence, people who need extra typically have to choose a wheelchair instead. This transition to a wheelchair limits users' movements and it increases their disuse syndrome because they do not exercise their lower limbs. Hence, it is a priority to extent the use of rollator platforms as much as possible by adapting help to people who can not use a conventional rollator on their own. Technological enhancements can be added to rollator to expand their use to a larger population. For example, force sensors on handlebars provide information about users' weight bearing. This information can be used during rehabilitation to control their partial weight-bearing. Encoders on wheels may also provide useful information about the walking speed, which is a well know estimator of fall risk. In addition to monitorization, motors can be attached to the wheels for assistance, e.g. to reduce effort while ascending slopes. This thesis focuses on creating a navigation system for a robotized rollator, which includes weight bearing sensors, encoders and wheel motors. The navigation system relies on passive collaborative control to continuously combine user and system commands in a seamless way. The main contribution of this work is adaptation to the user's needs through continuous, transparent monitorization and profile estimation

Identificación de herramientas de tic para apoyar la inclusión de personas mayores de edad

El propósito de este documento es presentar una síntesis de aquellas herramientas de TIC que han sido desarrolladas con el fin de apoyar la inclusión de las personas mayores, además que han sido publicadas en la literatura científica en el periodo 2005 -2015, se pretende identificar los tipos de tecnologías que se desarrollan para este grupo de personas, para luego así poder clasificar los resultados obtenidos a partir de la revisión de literatura científica realizada, su objetivo es construir un marco conceptual referente a los Adultos Mayores y las Tecnologías de la Información y Comunicación, la cual se debe explicar la concepción y la clasificación de cada término, establecer una planificación como ayuda para la revisión sistemática de la literatura, la cual estuvo comprendida por preguntas de investigación y criterios que se consideraron para poder realizar la respectiva selección y clasificación de los documentos se partió de una ecuación de búsqueda realizada para depurar la información, se realizó la búsqueda de los documentos en la base de datos SCOPUS, se escogen los documentos que van a ser sometidos al análisis, esto mediante una evaluación de calidad de los mismos, se analizaron los documentos que han sido seleccionados y se presentó la síntesis de los resultados, por medio de la ejecución de los objetivos descritos anteriormente, se ha logrado identificar dos tipos de desarrollos, los pertenecientes al grupo de aplicaciones y al de electrónica; también, se encontró desarrollos en los que se relacionaban estos dos tipos, además cada uno presenta o tiene un propósito diferente, entre los cuales se han destacado nueve, de los cuales el monitoreo o control de las personas mayores ha sido el propósito o el fin al que más se ha trabajado, con 57 herramientas dirigidas a esta finalidad y que equivale a un 39,8601% de los documentos estudiados

Detecção de Pernas Utilizando um Sensor de Varredura Laser Aplicada a um Andador Robótico

Este trabalho apresenta o desenvolvimento de um andador robótico concebido no Programa de Pós Graduação em Engenharia Elétrica da Universidade Federal do Espírito Santo (UFES). Este dispositivo tem por finalidade o auxílio a pessoas com deficiência de locomoção, podendo ser utilizado tanto para apoio à reabilitação quanto para compensação funcional. Inicialmente é apresentada uma revisão do estado da arte dos dispositivos de assistência à mobilidade humana, dando-se uma atenção especial aos andadores. Nesta categoria, enquadram-se os andadores robóticos, que são uma nova classe de andadores que integram avançadas tecnologias de robótica, eletrônica e mecânica. Em seguida é descrita a arquitetura mecânica e eletrônica concebida para o projeto. O foco principal do trabalho está na implementação de uma técnica de detecção de pernas. O método desenvolvido utiliza as informações de transições encontradas na varredura de um sensor laser para detectar padrões de posturas das pernas, e então verificar, a partir de algumas características como largura e distância entre as pernas, se o padrão encontrado realmente corresponde às pernas do usuário do andador. Estas informações permitem a avaliação da evolução espaço-temporal dos membros inferiores do usuário. Também é descrita a implementação de um controlador para o dispositivo, o qual utiliza os sinais de comando gerados a partir dos dados fornecidos pela detecção de pernas. Testes realizados demonstram a validade da técnica proposta, cujos dados são úteis para o controle do andador, para análise da marcha do usuário e para a implementação de regras de segurança. Assim, os resultados mais significativos deste trabalho consistem na arquitetura eletrônica elaborada para o sistema, na obtenção de uma plataforma flexível de experimentação e validação de estratégias de controle, e na obtenção de uma interface natural para o andador, por meio do sensoriamento laser. Estes aspectos favorecem o uso do dispositivo por pessoas com potencial residual de locomoção, auxiliando-as a caminharem com maior independência e segurança

ROSAPL: towards a heterogeneous multi‐robot system and Human interaction framework

The appearance of numerous robotic frameworks and middleware has provided researchers with reliable hardware and software units avoiding the need of developing ad-hoc platforms and focus their work on how improve the robots' high-level capabilities and behaviours. Despite this none of these are facilitating frameworks considering social capabilities as a factor in robots design. In a world that everyday seems more and more connected, with the slow but steady advance of the Internet of Things to many aspects of our daily lifes, the lack of social capabilities in a robot limits developers and researchers on areas where robots are seen as part of a solution, and not the solution. This thesis states that a social layer should be accessible in any robotic platform in order to ease the development of systems where such platforms are just a piece in the whole socio-technical system. As result of this e ort we present the ROSAPL framework to develop social robots on top of ROS middleware. We tested our approach in a real scenario at IBEC's Robotics group in the context of the InHANDS, which project tries to assist a handicapped persons in the kitchen. For them we designed and implemented a prototype to proof ROSAPL applicability. This latter will be fully implemented to o er real functionalities for the kitchen

Online control of a mobility assistance smart walker

Dissertação de mestrado integrado em Engenharia BiomédicaThis work presents the NeoASAS project that was developed at the Bioengineering Group, Consejo Superior de Investigaciones Cientificas (CSIC) in Madrid. Further, it continued with adaptations and improvements at Minho University with the Adaptive System Behavior Group (ASBG) in Guimarães, being designated by ASBGo Project. These developments include the conceptual design, implementation and validation of Smart Walkers with a new interface approach integrated into these devices. This interface is based on a joystick and it is intended to extract the user’s movement intentions. It was designed to be user-friendly and efficient, meeting usability aspects and focused on a commercial implementation, but not being demanding at the user cognitive level. Considering the ASBGo walker, the overall assemblage, mechanical adjustments, electronics and computing have been performed. First, a review about the mobility assistive devices is presented, specially focused on Smart Walkers. Despite the intensive research, in current literature, there are not many works providing a "point of the situation", and explaining the role that robotics can play in this domain. Healthy users performed preliminary sets of experiments with each walker, which showed the sensibility of the joystick to extract command intentions from the user. These signals presented a higher frequency component that was attenuated by a Benedict-Bordner g-h filter, considering the NeoASAS walker and by a Butterworth circuit, considering the ASBGo walker. These methodologies offer a cancelation of the undesired components from joystick data, allowing the system to extract in real-time user’s commands. Based on this identification, an approach to the control architecture based on a fuzzy logic algorithm was developed, in order to allow the control of the walkers’ motors. In addition, a set of sensors were integrated on the walker for safety reasons: an infrared sensor to detect if the user is falling forwards; two force sensors to make sure that the user is properly grabbing the hand support; and two force sensors in the support forearms to verify if the user is with his forearms properly supported. This will make sure that the device stops when one of these situations happens. Thus, an assistive device to provide safety and natural manoeuvrability was conceived and offers a certain degree of intelligence in assistance and decision-making. These results will be used to advance towards a commercial product with an affordable cost, but presenting high reliability and safety. The motivation is that this will contribute to improve rehabilitation purposes by promoting ambulatory daily exercises and thus extend users’ independent living.Este trabalho apresenta o projecto NeoASAS desenvolvido no Grupo de Bioengenharia, do Consejo Superior de Investigaciones Cientificas (CSIC) em Madrid. Este teve continuidade com adaptações e melhorias na Universidade do Minho com o grupo Adaptative System Behaviour (ASBG) em Guimarães, sendo designado por projecto ASBGo. Estes desenvolvimentos incluem o projecto concetual, implementação e validação de andarilhos inteligentes com uma nova interface integrada nestes dispositivos. Esta interface é baseada num joystick e tem como objetivo a extração de intenções de comando do utilizador, sendo intuitiva e eficiente. Atende a aspectos de usabilidade e está focada numa aplicação comercial, não sendo exigente a nível cognitivo. Considerando o andarilho ASBGo, foi realizada a construção deste, bem como, ajustes mecânicos, eletrónicos e programação. É apresentada uma revisão sobre os dispositivos de assistência à marcha, tendo especial enfoque os andarilhos. Apesar da intensa investigação, na literatura não existem trabalhos que apresentem o ponto de situação desta área, bem como o seu papel na robótica de reabilitação. Depois foram realizados testes com utilizadores, mostrando a sensibilidade que o joytick tem na identificação de inteções de comando do utilizador. Além disso, os sinais apresentam uma componente de alta frequência que foi atenuada, no caso do NeoASAS, com um filtro g-h Benedict-Bordner, e no caso do ASBGo, através de um filtro Butterworth implementado em hardware. As metodologias apresentadas oferecem um cancelamento componentes indesejáveis, permitindo ao sistema a extração das intenções de comando do utilizador em tempo real. Desta forma, uma arquitetura de controlo baseada em fuzzy logic foi desenvolvida de maneira a fornecer uma assistência segura ao utilizador, através do controlo dos motores. Foram também integrados um conjunto de sensores no andarilho por razões de segurança: um sensor infravermelho para detetar a queda frontal do utilizador, dois sensores de força nos apoios de mão para detetar se o utilizador está a agarrá-los, e dois sensores de força nos suportes de antebraço para certificar que o utilizador está devidamente apoiado. Assim, foi concebido um dispositivo que garante a segurança do utilizador e oferece um certo grau de inteligência e tomada de decisão. Estes resultados serão utilizados para a criação de um produto comercial com custo acessível, mas com alta confiabilidade. A motivação deste trabalho reflete-se na contribuição que este dispositivo terá na melhoria da reabilitação e desenvolvimento de dispositivos ambulatórios para promover exercicios diários, e melhorar a vida dos utilizadores

Impact of assistive technologies in supporting people with dementia.

In recent decades, many Assistive Technologies (ATs) have been developed to promote independence among people with dementia (PWD). Although there is a high rate of AT abandonment, only a handful of studies have focused on AT usability evaluation from the user point of view. The aim of this thesis is to empirically investigate the usability of ATs from the PWD and to measure its impacts on their lives. Following the Multi-methods research approach, the first part of the thesis uses secondary research methods including literature review and systematic mapping studies. The second part uses primary research methods including interviews (N=20) and questionnaire (N=327) based surveys for data collection and requirements elicitation. The third part is based on the design, development, and testing of an assistive software application through case studies (N=8). The first mapping study categorised existing general ATs into five major categories: robotics, monitoring, reminders, communication, and software. The second mapping study categorised software-based ATs into nine categories: cognitive help, reminders, health/activity monitoring, socialization, leisure, travel help, dementia detection, dementia prevention, and rehabilitation. The qualitative results showed that most of the PWD use ATs for socialization, and highlighted user interface efficacy, tailoring individual needs, and simplified functions as the major limitations of existing ATs. The quantitative results identified eleven factors for ATs usage: operational support, physical support, psychological support, social support, cultural match, reduced external help, affordability, travel help, compatibility, effectiveness, and retention. The statistical analysis showed that improved (social, psychological and travel) support and reduced need of external help for operating ATs, greatly impact AT effectiveness and retention. Based on PWD requirements, an assistive software application named E-Community for Dementia (ECD) was developed and tested through case studies involving 8 PWD and 40 volunteers. The participants were able to get their daily needed items in less time and with a friendlier manner through the help of their neighbours. The involvement of the caregivers for medication, meals, prayers etc. reduced significantly. The painting function helped evoke their memories, and encouraged them to perform activities from their youth. The news and weather functions kept them updated about the world around them. The travel tutor guided them in safe travel outside home and made sure that they got back home independently. The enhanced interaction between the PWD and their neighbours significantly reduced their social isolation. The results support the idea to create dementia-friendly communities at street levels, which is a cost-effective and reliable solution. The major outcomes from this thesis are AT categorization, evaluation of user experiences, factor identification and ranking, user requirements elicitation, assistive software application development, and case studies. This thesis helps considerably towards empirical investigation of the impact of ATs in supporting the PWD. The implementation of the ECD contributes towards the wellbeing of the PWD and saves costs spent on caregivers and carer companies. In future, the same study could be conducted in other settings to analyse the role of culture in AT acceptance